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Method and device for realizing automatic tracking of ship

A technology of automatic tracking and implementation method, applied in the field of ships, can solve problems such as poor tracking effect and complex algorithm

Active Publication Date: 2020-04-14
智慧航海(青岛)科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a method and device for realizing automatic tracking of ships, which solves the problem of poor tracking effect and complex algorithm in the prior art when the steering process is yaw

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  • Method and device for realizing automatic tracking of ship
  • Method and device for realizing automatic tracking of ship
  • Method and device for realizing automatic tracking of ship

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Embodiment Construction

[0063] In order to better explain the present invention and facilitate understanding, the present invention will be described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0064] Such as figure 1 as shown, figure 1 It shows a schematic flow chart of a method for realizing automatic ship tracking provided by an embodiment of the present invention. The method of this embodiment includes the following steps:

[0065] S1. For a moving ship, select track points in the route planning route of the ship, and form track segments sequentially according to the selected track points;

[0066] S2. According to the current position of the ship, determine information about the track segment to which the current position of the ship belongs and the next adjacent track segment.

[0067] It should be noted that, in practical applications, after the track segment to which the current position of the ship belongs is determined, if it is determined...

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Abstract

The invention discloses a method and a device for realizing automatic tracking of a ship. The method comprises the following steps: S1, selecting track points in a ship route planning route and sequentially forming track sections; S2, determining a track section to which the current position of the ship belongs and an adjacent next track section; S3, obtaining the steering speed of the ship running to the next track section and the steering starting distance of the ship for steering the next track section; S4, judging whether the distance from the current position of the ship to the terminal point of the current track section is smaller than the steering starting distance or not; S5, if YES, obtaining the expected course of the ship at the current position; and S6, judging whether the difference value between the current course and the expected course is smaller than the allowable course variation or not, and if YES, determining that the corrected expected course is the expected courseobtained in the step S5, and repeating the step S4 to the step S6 until the terminal point is reached. According to the method, the problems of poor tracking effect and complex algorithm during yawing in the steering process in the prior art are solved.

Description

technical field [0001] The invention relates to the field of ships, in particular to a method and device for realizing automatic tracking of ships. Background technique [0002] Ship tracking control means that the ship advances along a predetermined track at a constant longitudinal speed during operation or navigation, and the course of the ship must be kept along the predetermined track during the process. The existing tracking control system is mainly to control the ship to sail along the set route, which divides the tracking into straight line tracking and steering tracking, and the steering tracking adopts a fixed turning rate to move forward. [0003] However, the algorithm logic judgment of the above-mentioned tracking control system is cumbersome, and the tracking function is basically useless when yaw occurs during the steering process, that is, the experience in the actual ship steering operation is not considered, and small-angle steering often occurs during the t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12
CPCG05D1/12
Inventor 王晓原夏媛媛姜雨函潘金磊万倩男朱慎超
Owner 智慧航海(青岛)科技有限公司
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