CN108917767A - A kind of navigation sport plotting calculation method based on electronic chart - Google Patents
A kind of navigation sport plotting calculation method based on electronic chart Download PDFInfo
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- CN108917767A CN108917767A CN201810685578.3A CN201810685578A CN108917767A CN 108917767 A CN108917767 A CN 108917767A CN 201810685578 A CN201810685578 A CN 201810685578A CN 108917767 A CN108917767 A CN 108917767A
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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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- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The present invention relates to a kind of, and calculation method is marked and drawed in the navigation sport based on electronic chart, and technical characterstic is：Include the following steps：Step 1 obtains target ship movement parameter, this ship movement parameter；Step 2 selects corresponding navigation sport computation model that navigation purpose parameter is arranged according to navigation purpose；Step 3 calculates this ship navigation sport order parameter in real time；Step 4 is based on electronic chart this ship of information superposition and object ship sailing situation information；Step 5 calculates this ship navigation sport order parameter reasonability according to the kinematic parameter of this ship, operability and electronic chart information；The reasonability for this ship navigation sport order parameter that step 6, basis are calculated, adjusts navigation purpose parameter, then re-start calculating, until rationally.The present invention can carry out navigation sport quickly, conveniently, intuitively, in real time and mark and draw calculating based on electronic chart information, according to the real time kinematics parameter of this ship and target using navigation sport computation model, and provide aid decision scheme.
Description
Technical field
The invention belongs to marine navigation technical fields, are related to navigation sport and mark and draw calculation method, especially a kind of based on electricity
Calculation method is marked and drawed in the navigation sport of sub- sea chart.
Background technique
Currently, since some tasks need, needing to carry out navigation sport to this ship during ship navigation, and reach
Locality, conventional method be navigating officer on Paper Chart according to model knowledge, manual calculations motion scheme, so not only
It is time-consuming and laborious, and belong to static calculation, real-time is not high, and is easy to appear artificial calculating mistake.
Summary of the invention
It is an object of the invention to overcome deficiency in the prior art, provide a kind of design rationally and can quicklook it is real
When calculate the navigation sport based on electronic chart that navigation sport is marked and drawed and mark and draw calculation method.
The present invention solves its realistic problem and adopts the following technical solutions to achieve：
A kind of navigation sport plotting calculation method based on electronic chart, includes the following steps：
Step 1 obtains target ship movement parameter, this ship movement parameter, and marks and draws with electronic chart information superposition；
Step 2 selects corresponding navigation sport computation model according to navigation purpose, and navigation purpose parameter is arranged；
Step 3, according to navigation sport computation model, navigation purpose parameter, object ship and this ship movement parameter, calculate in real time
This ship navigation sport order parameter；
Step 4 is based on electronic chart this ship of information superposition and object ship sailing situation information, marks and draws this ship and target in real time
This ship/target sailing situation figure under sailing situation figure, this ship navigation sport order parameter；
Step 5 calculates this ship navigation sport instruction ginseng according to the kinematic parameter of this ship, operability and electronic chart information
Number reasonability；
The reasonability for this ship navigation sport order parameter that step 6, basis are calculated adjusts navigation purpose parameter, then
Calculating is re-started, until rationally.
Moreover, the specific steps of the step 1 include：
(1) radar sensor device, AIS equipment, simulated target and fusion target data are acquired in real time, obtain course, boat
Speed, orientation, the parameters of target motion away from discrete time, and marked and drawed with electronic chart information superposition；
(2) it includes longitude and latitude, the speed of a ship or plane, course, wind speed that acquisition sensor (GPS, tachometer, anemoclinograph) in real time, which obtains,
This ship movement parameter of wind direction and time, and marked and drawed with electronic chart information superposition.
Moreover, the navigation purpose of the step 2 is to need close to target, far from navigation such as target, evading target, predicted positions
It asks；
The computation model of the step 2 includes parameters of target motion computation model, the fixed position calculating of fixed time arrival
Model, fixed speed reach fixed position computation model, fixed speed close to target computation model, fixed speed far from target meter
Calculate model, position prediction computation model and fixed speed evading target computation model；
The specific method of the setting navigation purpose parameter of the step 2 is：Beginning parameter transform model is without being manually entered parameter；
Fixed time reaches fixed position computation model and needs to input orientation or angle on the bow, target range, occupy-place moment, navigation sport standard
The standby time；Fixed speed reaches fixed position computation model and needs to input orientation or angle on the bow, target range, the occupy-place speed of a ship or plane, boat
It transports by sea dynamic time；Fixed speed needs to input close to target computation model to be prepared close to distance, close to the speed of a ship or plane, navigation sport
Time；Fixed speed needs input expansion distance, the expansion speed of a ship or plane, limiting distance, navigation sport to prepare far from target computation model
Time；Position prediction needs input prediction moment, the target speed of a ship or plane, bogey heading, navigation sport time；Constant speed evades needs
Input parameter evades distance, avoiding speed, navigation sport time.
Moreover, the movement instruction supplemental characteristic of the calculating exported in the step 3 is：The output of beginning parameter transform model model
Resolved data is target longitude and latitude；The resolved data that fixed time reaches fixed position computation model output is movement course, fortune
The dynamic speed of a ship or plane, minimum distance, the low coverage moment, reaches low coverage remaining time at hours underway；Fixed speed reaches fixed position and calculates mould
The resolved data of type output is movement course, the in-position moment, hours underway, minimum distance, the low coverage moment, to reach low coverage surplus
The remaining time；The resolved data that fixed speed is exported close to target computation model is close to course, close to moment, target bearing, mesh
It marks angle on the bow, hours underway, minimum distance, the low coverage moment, reach low coverage remaining time；Fixed speed is defeated far from target computation model
Resolved data is to expand course, expand the moment, target bearing, target angle, hours underway, minimum distance, the low coverage moment, arrive out
Up to low coverage remaining time；When the resolved data of position prediction computation model output is target range orientation, target angle, navigation
Between, minimum distance, the low coverage moment, reach low coverage remaining time；The resolved data of fixed speed evading target computation model output
To evade range 1 and evading range 2.
Moreover, marking and drawing situation information, including this ship and object ship in real time based on electronic chart information superposition in the step 4
Real-time situation figure, this ship/target under navigation sport order parameter situation map, according to order parameter reach purpose after state
Gesture figure.
Moreover, according to the characteristic and calculating of this ship's head, the speed of a ship or plane, nautical chart information and ship type itself in the step 5
Order parameter is compared calculating out, rule of thumb refers to, and obtains the reasonability of order parameter.
The advantages of the present invention：
The present invention is based on electronic chart information, according to the real time kinematics parameter of this ship and target, motion calculation model,
Navigation sport can be calculated quickly, conveniently, intuitively, in real time to mark and draw, and provide aid decision scheme, with situation Graphics overlay sea chart
Information is intuitively shown.
The present invention solves conventional method and is calculated manually according to model, heavy workload, error-prone, and real-time is not high,
The shortcomings that being unable to high-speed decision at the critical moment can be more straight by the graphical information and electronic chart information superposition of plotting
It sees and shows the model calculation, fast and easy decision.
Detailed description of the invention
Fig. 1 is that calculation workflow journey figure is marked and drawed in navigation sport of the invention；
Fig. 2 is that computation model composition figure is marked and drawed in navigation sport of the invention；
Fig. 3 is fixed speed of the invention close to situation and result figure.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing：
A kind of navigation sport based on electronic chart is marked and drawed calculation method and is included the following steps as depicted in figs. 1 and 2：
Step 1 obtains target ship movement parameter, this ship movement parameter, and marks and draws with electronic chart information superposition；
The specific steps of the step 1 include：
(1) radar sensor device, AIS equipment, simulated target and fusion target data are acquired in real time, obtain course, boat
Speed, orientation, the parameters of target motion away from discrete time, and marked and drawed with electronic chart information superposition；
(2) it includes longitude and latitude, the speed of a ship or plane, course, wind speed that acquisition sensor (GPS, tachometer, anemoclinograph) in real time, which obtains,
This ship movement parameter of wind direction and time, and marked and drawed with electronic chart information superposition.
In the present embodiment, this ship data include longitude and latitude, the speed of a ship or plane, course, the wind speed and direction, time of this ship, number of targets
According to including course, the speed of a ship or plane, orientation, distance, wind speed and direction, time.The parameter of this ship is to obtain in real time from sensing, in this embodiment
Instantaneous own ships bus is 102.4, speed of a ship or plane 19.43Kn, and latitude is 38 ° of 57.266 ' N, and longitude is 117 ° of 53.426 ' E, wind speed
2m/s, wind direction are 100 °, the moment 11:04.Target data from radar sensor device, AIS equipment, simulated target, melt
Close target.Target data is clicked the fusion target on figure by mouse, is obtained in real time from fusion target in the present embodiment
Target component, the data parameters meeting such as specific azran (transient bearing is 0 °, distance 1.2NM, 45 ° of course, speed of a ship or plane 20Kn)
It calculates in real time.
The computation model of the step 2 includes parameters of target motion computation model, the fixed position calculating of fixed time arrival
Model, fixed speed reach fixed position computation model, fixed speed close to target computation model, fixed speed far from target meter
Calculate model, position prediction computation model and fixed speed evading target computation model.
The navigation purpose of the step 2 is close to target, far from navigation needs such as target, evading target, predicted positions；
The navigation purpose parameter setting of the step 2：Beginning parameter transform model is without being manually entered parameter；Fixed time reaches
Fixed position computation model needs to input orientation or angle on the bow, target range, occupy-place moment, navigation sport time；It is fixed
When the fixed position computation model of speed arrival needs to input orientation or angle on the bow, target range, the occupy-place speed of a ship or plane, navigation sport preparation
Between；Fixed speed needs to input close to distance, close to the speed of a ship or plane, navigation sport time close to target computation model；Fixed speed
It spends to need to input far from target computation model and expands distance, expands the speed of a ship or plane, limiting distance, navigation sport time；Position is pre-
Survey needs input prediction moment, the target speed of a ship or plane, bogey heading, navigation sport time；Constant speed, which is evaded, needs to input parameter rule
Keep away distance, avoiding speed, navigation sport time.
This implementation selects fixed speed to calculate (constant speed occupy-place) mould close to target according to the navigation purpose demand close to target
Type, inputs 20 ° of selection target azimuth angle value, and final distance is 5NM, speed of a ship or plane 20Kn, time 0.
The movement instruction supplemental characteristic of the calculating exported in the step 3 is：The resolving of beginning parameter transform model model output
Data are target longitude and latitude；The resolved data that fixed time reaches fixed position computation model output is movement course, movement boat
Speed, minimum distance, the low coverage moment, reaches low coverage remaining time at hours underway；It is defeated that fixed speed reaches fixed position computation model
When resolved data out is movement course, in-position moment, hours underway, minimum distance, low coverage moment, arrival low coverage residue
Between；The resolved data that fixed speed is exported close to target computation model is close to course, close to moment, target bearing, the target side of a ship
Angle, minimum distance, the low coverage moment, reaches low coverage remaining time at hours underway；Fixed speed is exported far from target computation model and is solved
Evidence count to expand course, expanding moment, target bearing, target angle, hours underway, minimum distance, low coverage moment, arrival closely
Away from remaining time；The resolved data of position prediction computation model output is target range orientation, target angle, hours underway, most
Closely, low coverage moment, arrival low coverage remaining time；The resolved data of fixed speed evading target computation model output is to evade
Range 1 and evade range 2.
In the present embodiment, the navigation sport data that real-time resolving goes out are that movement course is 175.2 °, arrival time 11:
10, hours underway is 5 minutes, minimum distance 1.2NM, and the low coverage moment is 11:04, the remaining time for reaching low coverage is 0 point.
Situation information is marked and drawed based on electronic chart information superposition in real time in the step 4, the reality including this ship and object ship
When situation map, this ship/target under navigation sport order parameter situation map, according to order parameter reach purpose after situation
Figure.
In the present embodiment, as shown in figure 3,1 line is target and this ship situation map on the diagram, the line of figure upper 2 is mesh
The gesture figure being marked under navigation sport parameter, figure upper 3 are situation map of this ship under navigation sport order parameter, scheme upper 4 line and are
(4 lines are 20 ° of the navigation purpose parameter angle and distance that step 2 inputs to situation map after being arrived at the destination according to order parameter
5NM)。
The step 5 calculates the navigation sport of this ship according to the kinematic parameter of this ship, operability and electronic chart information and refers to
Enable Rational Parameters.
The step 6 adjusts navigation purpose ginseng according to the reasonability for this ship navigation sport order parameter being calculated
Number, then calculating is re-started, until rationally.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore the present invention includes
It is not limited to embodiment described in specific embodiment, it is all to be obtained according to the technique and scheme of the present invention by those skilled in the art
Other embodiments, also belong to the scope of protection of the invention.
Claims (6)
1. calculation method is marked and drawed in a kind of navigation sport based on electronic chart, it is characterised in that：Include the following steps：
Step 1 obtains target ship movement parameter, this ship movement parameter, and marks and draws with electronic chart information superposition；
Step 2 selects corresponding navigation sport computation model according to navigation purpose, and navigation purpose parameter is arranged；
Step 3, according to navigation sport computation model, navigation purpose parameter, object ship and this ship movement parameter, calculate this ship in real time
Navigation sport order parameter；
Step 4 is based on electronic chart this ship of information superposition and object ship sailing situation information；
Step 5 calculates the conjunction of this ship navigation sport order parameter according to the kinematic parameter of this ship, operability and electronic chart information
Rationality；
The reasonability for this ship navigation sport order parameter that step 6, basis are calculated, adjusts navigation purpose parameter, then again
It is calculated, until rationally.
2. calculation method is marked and drawed in a kind of navigation sport based on electronic chart according to claim 1, it is characterised in that：Institute
The specific steps for stating step 1 include：
(1) radar sensor device, AIS equipment, simulated target and fusion target data are acquired in real time, obtain course, the speed of a ship or plane, side
Position, the parameters of target motion away from discrete time, and marked and drawed with electronic chart information superposition；
(2) acquisition sensor acquisition in real time includes this ship movement parameter of longitude and latitude, the speed of a ship or plane, course, wind speed and direction and time, and
It is marked and drawed with electronic chart information superposition.
3. calculation method is marked and drawed in a kind of navigation sport based on electronic chart according to claim 1, it is characterised in that：Institute
State step 2 navigation purpose be close to target, far from target, evading target, predicted position navigation needs；
The navigation sport computation model of the step 2 includes parameters of target motion computation model, the fixed position of fixed time arrival
Computation model, fixed speed reach fixed position computation model, fixed speed close to target computation model, fixed speed far from mesh
Mark computation model, position prediction computation model and fixed speed evading target computation model；
The specific method of the setting navigation purpose parameter of the step 2 is：Beginning parameter transform model is without being manually entered parameter；It is fixed
When the fixed position computation model of moment arrival needs to input orientation or angle on the bow, target range, occupy-place moment, navigation sport preparation
Between；Fixed speed reaches fixed position computation model and needs to input orientation or angle on the bow, target range, the occupy-place speed of a ship or plane, navigation fortune
Dynamic time；When fixed speed needs to input close distance, prepares close to the speed of a ship or plane, navigation sport close to target computation model
Between；When fixed speed needs input expansion distance, the expansion speed of a ship or plane, limiting distance, navigation sport to prepare far from target computation model
Between；Position prediction needs input prediction moment, the target speed of a ship or plane, bogey heading, navigation sport time；It is defeated that constant speed evades needs
Enter parameter and evades distance, avoiding speed, navigation sport time.
4. calculation method is marked and drawed in a kind of navigation sport based on electronic chart according to claim 1, it is characterised in that：Institute
The method for calculating this ship navigation sport order parameter in real time for stating step 3 is：The resolved data of beginning parameter transform model model output
For target longitude and latitude；The resolved data that fixed time reaches fixed position computation model output is movement course, the movement speed of a ship or plane, boat
The row time, the low coverage moment, reaches low coverage remaining time at minimum distance；Fixed speed reaches fixed position computation model output
Resolved data is movement course, the in-position moment, hours underway, minimum distance, the low coverage moment, reaches low coverage remaining time；
The resolved data that fixed speed is exported close to target computation model be close to course, close to the moment, target bearing, target angle,
Hours underway, the low coverage moment, reaches low coverage remaining time at minimum distance；Fixed speed is exported far from target computation model and is resolved
Data are to expand course, expand the moment, target bearing, target angle, hours underway, minimum distance, the low coverage moment, reach low coverage
Remaining time；Position prediction computation model output resolved data be target range orientation, target angle, hours underway, recently
Distance, reaches low coverage remaining time at the low coverage moment；The resolved data of fixed speed evading target computation model output is to evade model
It encloses 1 and evades range 2.
5. calculation method is marked and drawed in a kind of navigation sport based on electronic chart according to claim 1, it is characterised in that：Institute
It states in step 4 based on electronic chart this ship of information superposition and object ship sailing situation information, it is real-time including this ship and object ship
Situation map, this ship/target under navigation sport order parameter situation map, according to order parameter reach purpose after situation map.
6. calculation method is marked and drawed in a kind of navigation sport based on electronic chart according to claim 1, it is characterised in that：Institute
The specific method for stating step 5 is：According to the characteristic of this ship's head, the speed of a ship or plane, nautical chart information and ship type itself and calculate finger
It enables parameter be compared calculating, rule of thumb refers to, obtain the reasonability of order parameter.
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| CN110749321A (en) * | 2019-10-22 | 2020-02-04 | 中国人民解放军海军潜艇学院 | Navigation drawing electronic auxiliary method, device and system |
| CN111474956A (en) * | 2020-04-22 | 2020-07-31 | 中国电子科技集团公司第二十八研究所 | Simulation method of unmanned aerial vehicle electronic investigation target based on simulation platform and monitoring platform |
| CN112729314A (en) * | 2021-01-11 | 2021-04-30 | 中国船舶重工集团公司第七0七研究所 | Naval vessel maneuvering drawing method based on electronic vessel operation diagram |
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