Two AIS (automatic identification system) reference point-based ship self-organization cooperative localization method

Abstract

The invention relates to a two AIS (automatic identification system) reference point-based ship self-organization cooperative localization method and belongs to the ship localization and navigation field. According to the two AIS (automatic identification system) reference point-based ship self-organization cooperative localization method, steps such as localization mode discrimination, information data preparation, self organization coordination, localization equation solving and localization information sharing are adopted, and the above processes are repeated, ship-shore and ship collaborative information is constantly updated, so that the dynamic localization of all cooperative ships in a cooperative ship station group can be realized; under a condition that only two AIS shore stations are adopted as localization reference points, and traditional ranging and localization requirements are not satisfied, based on self-organization coordination between ships and stations, the shearing of ranging information between ships and shores as well as between ships can be realized, and the self-organization localization of cooperative ship stations can be realized; and extra AIS shore stations are not required to be adopted, the self-organization cooperative localization of coastal ships can be realized, and therefore, the application range of an AIS ranging and localization system can be greatly extended.

Description

technical field [0001] The present invention relates to a ship self-organization cooperative positioning method with two AIS reference points. A method for self-organizing cooperative positioning belongs to the field of ship positioning and navigation. Background technique [0002] AIS is a communication and navigation equipment that ships are required to equip according to the International Convention for the Safety of Life at Sea. The AIS equipment installed on coastal ports is called AIS shore station, and the AIS equipment installed on ships is called AIS ship station. But the positioning and navigation information in the existing AIS system completely depends on the position provided by the Global Navigation Satellite System (GNSS) receiver. In order to ensure safe navigation, the International Maritime Organization (IMO) advocates that ships in the future should be equipped with dual backup positioning and navigation systems based on space and land. Therefore, IMO ha...

AI Technical Summary

Problems solved by technology

However, in many cases, limited by the layout of AIS shore station reference points, there are no positioned ship stations around the ship that can be used as mobile reference points. For example, AIS ship stations in the same sea area can only receive information from the same two AIS shore station The signal of the station reference point, therefore, the invention patent CN 201410234851.2 cannot deal with this problem

Images