A route planning method and device for a survey ship
A technology for route planning and surveying ships, which is used in surveying devices, surveying and navigation, two-dimensional position/channel control, etc., and can solve problems such as difficulty in route planning.
Active Publication Date: 2020-02-04
BEIJING RUNKE GENERAL TECH
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Problems solved by technology
[0004] The inventor found in the research that the dynamic programming theory requires modeling and selecting a solver, which makes it difficult to realize route planning
Method used
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Embodiment Construction
[0062] A route planning method for a survey ship according to an embodiment of the present application may be executed by a route planning device for a survey ship, and the device may be integrated on the survey ship or set independently.
[0063] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0064] In the embodiment of the present application, it is necessary to make the survey ship sail from the initial position to the starting point of the route. The direction of the position is within the preset error range, and when the survey sh...
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The invention discloses a method and a device for path planning of a surveying vessel. The method comprises the steps: obtaining an initial position of the surveying vessel, a path beginning positionand a path final position; determining the direction from the path final position to the path beginning position as the reference direction, determining a first path position point in the reference direction, determining the path position point as a reference position and determining a position point in the target direction of the reference position and in the preset distance from the reference position as the path position point; utilizing the current target direction as the reference direction when an included angle between the current target direction and the comparison direction is largerthan a preset angle, utilizing a current determined path position point as the reference position and returning to the step of determining the path position point in the target direction of the reference position until the included angle between the current target direction and the comparison direction is not larger than the preset angle. According to the method for the path planning of the surveying vessel disclosed by the embodiment of the invention, achieving difficulty in determining the path position point according to the preset angle and the preset distance is small.
Description
technical field [0001] The application relates to the field of algorithm design and simulation, in particular to a route planning method and device for a survey ship. Background technique [0002] At present, geophysics and other related projects require the survey ship to traverse several preset survey lines from the starting position of the route to the end position of the route, and there are strict requirements on the navigation status of the survey ship on the survey line, for example, the survey ship The navigation direction when arriving at the starting position of the route is within a certain error range from the direction from the starting position of the route to the end position of the route. In order to meet this requirement, it is necessary to plan the route of the survey ship from the initial position to the starting position of the route. Specifically, it is necessary to calculate the route position point that the survey ship needs to pass through to change t...
Claims
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IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/203G05D1/0206
Inventor 宋亮齐海超郑亮
Owner BEIJING RUNKE GENERAL TECH