Quaternion ship security domain model and ship collision avoidance method

Abstract

The invention discloses a quaternion ship security domain model which is characterized by being determined by the parameters Q and k. The parameter Q is determined by radiuses in four directions; the directional radiuses are respectively Rfore, Raft, Rstarb and Rport; Rfore and Raft are respectively the front radius and the rear radius of the longitudinal radius (Rlon) of the quaternion ship domain; and Rport and Rstarb are respectively the left radius and the right radius (Rlat) of the transverse radius of the quaternion ship domain. The boundary of the quaternion ship security domain model consists of a close curve determined by the four directional radiuses. According to the technical scheme, the invention further provides a ship collision avoidance method, a uniform safety domain frame is formed, a determined ship safety domain can be acquired intuitively; and by cooperation of collision avoidance geometric models, relevant ships can be effectively warned to act collision avoidance, and security of marine navigation is effectively guaranteed.

Description

technical field [0001] The invention relates to a quaternary ship safety domain model and a ship collision avoidance method using the model. Background technique [0002] In recent years, with the rapid development of global economy and trade and the continuous expansion of the global shipping fleet, the incidence of ship collision accidents has also increased. Therefore, determining the area of ​​safe navigation of ships is an important part of carrying out maritime traffic simulation and studying the risk of ship collision. [0003] In the 1960s and 1970s, Kato [1] of Japan proposed the concept of the field of ship navigation safety. So far, researchers have proposed various models of ship navigation safety in different shapes and sizes, such as: the "cross-sectional The "area" model is composed of two semi-ellipses at the front and back, and is determined by the ship's maneuvering parameters and sailing speed; literature [3][4] proposed a complex hexagonal ship domain mo...

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Problems solved by technology

[0003] In the 1960s and 1970s, Kato [1] of Japan proposed the concept of the field of ship navigation safety. So far, researchers have proposed various models of ship navigation safety in different shapes and sizes, such as: the "cross-sectional The "area" model is composed of two semi-ellipses at the front and back, and is determined by the ship's maneuvering parameters and sailing speed; literature [3][4] proposed a complex hexagonal ship domain model, using the ship speed and ship maneuver The parameters determine the size of each side. This model makes it easy for ships under collision avoidance to use evolutionary algorithms to optimize their tracks, but its complexity is high, the physical meaning is vague, and it is not easy to understand and apply in practice; Factors such as steering performance provide a quantitative method for the boundary of the ship domain in several cases, and the maneuverability of the ship is reflected in this method, but the functional relationship between the model size and the influencing factors is a rough estimation formula given artificially

However, it has not been possible to form a unified model. The main reasons for the above problems are: (1) Different navigation environment factors lead to models of different shapes and sizes; (2) Most of the models are based on statistical data or simulation experiments. (3) Existing models are easy to understand, but difficult to be applied to practice

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