A dynamic encounter status monitoring method and device for marine navigation

Abstract

The present application provides a dynamic encounter status monitoring method and device for maritime navigation, the method obtaining a number of distance sequence samples; based on each distance sequence sample and a preset angle formula, determining a number of angle changes. The angle changes correspond to the encounter distances in the distance sequence samples one by one. According to each angle change and the corresponding encounter distance, determine the corresponding encounter distance coefficient. The encounter distance coefficient matches the distance change of the distance sequence sample. Determine the encounter azimuth change of the current encounter object. Based on the encounter azimuth change, determine the closest encounter distance with the current encounter object through the corresponding encounter distance coefficient.

Description

Technical Field

[0001] The present application relates to the field of marine navigation technology, and in particular to a dynamic encounter status monitoring method and device for marine navigation. Background Art

[0002] With the development of navigation technology, active phased array radar (APAR) and gyrocompass equipped on ships at sea can help sailors to timely understand the encounter situation with other ships, so that sailors can take the best avoidance measures in time when the closest encounter distance is dangerous.

[0003] However, ships sailing at sea may not be equipped with APAR radars or the APAR radars may fail, or the gyrocompass may fail. These situations will result in the inability to monitor the position of the surrounding encounter targets (fixed targets, mobile targets) in time and determine the encounter status of the ship during dynamic encounter. As a result, the navigation personnel cannot obtain the closest encounter distance with the encounter target and cannot avoid it in time, which increases the probability of marine accidents and the possibility of property losses and casualties. Summary of the invention

[0004] The embodiments of the present application provide a method and device for monitoring dynamic encounter status for maritime navigation, which are used to monitor the dynamic encounter status of ships when no APAR radar is configured or the APAR radar fails or the gyrocompass fails, thereby reducing the probability of maritime accidents and ensuring the safety of property and ship personnel.

[0005] On the one hand, an embodiment of the present application provides a dynamic encounter status monitoring method for marine navigation, the method comprising:

[0006] Obtain several distance sequence samples. Based on each distance sequence sample and a preset angle formula, determine several angle changes. The angle changes correspond to the encounter distances in the distance sequence samples. Determine the corresponding encounter distance coefficient based on each angle change and the corresponding encounter distance. The encounter distance coefficient matches the distance change of the distance sequence sample. Determine the encounter azimuth change of the current encounter object. Based on the encounter azimuth change, determine the closest encounter distance with the current encounter object through the corresponding encounter distance coefficient.

[0007] In one implementation of the present application, the first distance and the second distance of each observed distance in each distance sequence sample are determined. The first distance and the second distance are distances collected at different times. According to the first distance, the second distance, and each encounter distance in the distance sequence sample, the angle difference between the first encounter angle change value corresponding to the first distance to the encounter distance and the second encounter angle change value corresponding to the second distance to the encounter distance is determined as the angle change amount corresponding to the observed distance.

[0008] In one implementation of the present application, the corresponding meeting distance is determined according to each angle change. The ratio of each meeting distance to the corresponding angle change is determined, and a ratio set is generated. The element average of each ratio set is determined. The element average is the arithmetic mean of each element value of the ratio set. The element average corresponding to each observation distance is used as the meeting distance coefficient corresponding to the observation distance. The observation distance is moving from the first distance to the second distance.

[0009] In one implementation of the present application, the corresponding meeting distance is determined according to each angle change, and a distance sequence of each meeting distance is generated. The arithmetic mean of each distance sequence is determined as the first meeting distance. According to a preset rule, the distance sequence is matched with the first meeting distance to determine the second meeting distance according to the matching result. Among them, the preset rule is to calculate the minimum difference between each element in the distance sequence and the first meeting distance. The ratio of the second meeting distance to the corresponding angle change is used as the meeting distance coefficient of the observation distance corresponding to the angle change. Among them, the observation distance is the movement from the first distance to the second distance.

[0010] In one implementation of the present application, a distance between the object and the object to be encountered is obtained in real time through a ranging radar. The encounter angle corresponding to the distance between the object and the object to be encountered is also obtained. It is determined whether the distance between the object and the object is within a corresponding preset distance interval. If the distance between the object and the object is within a corresponding preset distance interval, a change in the encounter distance that matches the preset distance interval is determined. And according to the encounter angle, a change in the encounter angle corresponding to the change in the encounter distance is determined.

[0011] In one implementation of the present application, the interval distance corresponding to the encounter distance change in the encounter azimuth change is determined. An encounter distance coefficient matching the encounter distance change and the interval distance is determined. The product of the encounter distance coefficient and the encounter angle change of the encounter azimuth change is used as the closest encounter distance with the current encounter object.

[0012] In one implementation of the present application, after determining the corresponding meeting distance coefficient, a distance coefficient coordinate system of the meeting distance coefficient is generated. Among them, the horizontal axis of the distance coefficient coordinate system is the interval distance from the current meeting object, and the vertical axis of the distance coefficient coordinate system is the coefficient value of the meeting distance coefficient. The distance coefficient coordinate system includes at least one coefficient curve. The coefficient curve is related to the distance change. Taking the interval distance in the distance coefficient coordinate system as the starting point, a ray is drawn along the positive direction of the vertical axis, and the vertical coordinate value of the intersection of the ray and the coefficient curve corresponding to the meeting distance change is determined as the meeting distance coefficient.

[0013] In one implementation of the present application, it is determined whether the closest encounter distance is less than a preset safety distance. When the closest encounter distance is less than the preset safety distance, a first steering angle is determined based on the preset safety distance and the current interval distance from the current encounter object. A second steering angle is determined based on the current interval distance and the closest encounter distance. The angle difference between the first steering angle and the second steering angle is used as a safe steering angle, and the safe steering angle is sent to a steering management terminal.

[0014] In one implementation of the present application, the distance sequence sample includes at least: a number of encounter distances, a distance change corresponding to each encounter distance, and an observed distance corresponding to the distance change. The observed distance includes at least a first distance and a second distance. The first distance and the second distance are the distances to the current encounter object at different times.

[0015] On the other hand, an embodiment of the present application further provides a dynamic encounter status monitoring device for marine navigation, the device comprising:

[0016] At least one processor; and a memory in communication with the at least one processor. The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:

[0017] Obtain several distance sequence samples. Based on each distance sequence sample and a preset angle formula, determine several angle changes. The angle changes correspond to the encounter distances in the distance sequence samples. Determine the corresponding encounter distance coefficient based on each angle change and the corresponding encounter distance. The encounter distance coefficient matches the distance change of the distance sequence sample. Determine the encounter azimuth change of the current encounter object. Based on the encounter azimuth change, determine the closest encounter distance with the current encounter object through the corresponding encounter distance coefficient.

[0018] The present application provides a meeting distance coefficient for determining the closest meeting distance through the above scheme, thereby simply and efficiently helping marine navigation personnel to determine the closest meeting distance with the current meeting object when there is no APAR radar or the APAR radar fails or the gyrocompass fails, thereby improving the safety of marine navigation. At the same time, it also reduces the probability of marine accidents and ensures the property safety and life safety of the ship's personnel during marine navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0020] Figure 1 A schematic diagram of a flow chart of a dynamic encounter status monitoring method for marine navigation in an embodiment of the present application;

[0021] Figure 2 This is a schematic diagram of a dynamic encounter status monitoring method for marine navigation in an embodiment of the present application;

[0022] Figure 3 A schematic diagram of a flow chart of a dynamic encounter status monitoring method for marine navigation in an embodiment of the present application;

[0023] Figure 4 This is another schematic diagram of a dynamic encounter status monitoring method for marine navigation in an embodiment of the present application;

[0024] Figure 5 It is a structural schematic diagram of a dynamic encounter status monitoring device used for marine navigation in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0026] When sailing at sea, if the APAR radar cannot be used to obtain the closest encounter distance with the target, the navigation personnel can also draw the nautical chart manually, and then calculate and measure the closest encounter distance to determine whether avoidance is necessary. However, the manual method of drawing the nautical chart takes a long time, and the results of calculation and measurement are prone to large errors or even calculation errors. This will cause the navigation personnel to miss the best time to avoid, resulting in marine accidents, causing major property losses and casualties.

[0027] Based on this, the embodiments of the present application provide a dynamic encounter status monitoring method and device for maritime navigation, which is used to monitor the dynamic ship encounter status when the ship is not equipped with an APAR radar or the APAR radar fails or the electric compass fails, reduce the probability of maritime accidents, and ensure the safety of property and ship personnel.

[0028] The following describes in detail various embodiments of the present application in conjunction with the accompanying drawings.

[0029] The present application embodiment provides a dynamic encounter status monitoring method for marine navigation, such as Figure 1 As shown, the method may include steps S101-S105:

[0030] S101: The server obtains a number of distance sequence samples.

[0031] In the embodiment of the present application, the distance sequence sample at least includes: a number of encounter distances, a distance change corresponding to each encounter distance, and an observation distance corresponding to the distance change.

[0032] The observation distance includes at least a first distance and a second distance, which are the distances to the currently encountered object at different times.

[0033] The encounter distance is the closest encounter distance between ship A and ship B when they encounter each other, and the distance change is the absolute value of the difference between the first distance and the second distance of the observed distance. For example, if the first distance of the observed distance is 15 nautical miles and the second distance is 14 nautical miles, then the distance change is 15 nautical miles - 14 nautical miles = 1 nautical mile.

[0034] The distance sequence samples of the present application may be sample data stored in a preset database, or may be sample data recorded during historical navigation, such as distance sequence samples of encounters between ship A and several ships during historical navigation when the ship's APAR radar and gyrocompass are not out of service.

[0035] It should be noted that the server as the execution subject of the dynamic encounter status monitoring method for maritime navigation is only an example, and the execution subject is not limited to the server, and this application does not make specific restrictions on this. The execution subject of the dynamic encounter status monitoring method for maritime navigation of this application can also be, such as the client of the WeChat platform, the small program of the client can execute the dynamic encounter status monitoring method for maritime navigation; or the handheld terminal, laptop computer and other devices of the navigation personnel can be used as the execution subject.

[0036] S102: The server determines a number of angle changes based on each distance sequence sample and a preset angle formula.

[0037] Among them, the angle change corresponds one-to-one to the encounter distance in the distance sequence sample.

[0038] In the embodiment of the present application, the preset angle formula is as follows:

[0039]

[0040] Wherein, ΔA is the angle change, CPA is the encounter distance, D1 is the first distance of the observation distance, and D2 is the second distance of the observation distance. Figure 2 This is a schematic diagram corresponding to the preset angle formula, such as Figure 2 shown.

[0041] In the embodiment of the present application, the server determines several angle changes based on each distance sequence sample and a preset angle formula, specifically including:

[0042] The server determines the first distance and the second distance of each observation distance in each distance sequence sample.

[0043] The first distance and the second distance are distances collected at different times.

[0044] The distance sequence sample includes several observed distances, such as 15 nautical miles, 14 nautical miles, 13 nautical miles... The distance change of the observed distance is 1 nautical mile. The distance change of the observed distance in the distance sequence sample can also be 2 nautical miles, 3 nautical miles, etc. For example, the observed distance when the distance change is 2 nautical miles is: 15 nautical miles, 13 nautical miles, 11 nautical miles...

[0045] Then, the server determines the angle difference between the first meeting angle change value corresponding to the first distance to the meeting distance and the second meeting angle change value corresponding to the second distance to the meeting distance according to the first distance, the second distance and each meeting distance in the distance sequence sample, which is the angle change corresponding to the observed distance.

[0046] The server substitutes the first distance, the second distance, and a number of meeting distances corresponding to the first distance and the second distance into the above-mentioned preset angle formula to obtain a number of angle changes. In the embodiment of the present application, the observed distance in the distance sequence sample has a corresponding meeting distance. For example, the first distance is 13 nautical miles and the second distance is 12 nautical miles. The meeting distances corresponding to the first distance and the second distance may be: 0.2 nautical miles, 0.4 nautical miles, 0.6 nautical miles, 0.8 nautical miles, 1 nautical mile...

[0047] By using the above preset angle formula, the angle change can be determined quickly and easily to ensure the efficiency of the encounter status monitoring.

[0048] S103: The server determines a corresponding meeting distance coefficient according to each angle change amount and the corresponding meeting distance.

[0049] Among them, the encounter distance coefficient matches the distance change of the distance sequence samples.

[0050] In the embodiment of the present application, each angle change has a corresponding encounter distance, and the angle change and the encounter distance also correspond to an observation distance and the distance change of the observation distance. When the observation distance is from 13 nautical miles to 12 nautical miles and the distance change is 1 nautical mile, the angle change ΔA and the encounter distance CPA corresponding to the encounter distance coefficient k1 are shown in the following table:

[0051] CPA 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2 2.4 2.6 ΔA 0.073 0.147 0.221 0.294 0.368 0.443 0.517 0.593 0.668 0.774 0.821 0.898 0.976 <![CDATA[k1]]> 2.72 2.72 2.72 2.72 2.71 2.71 2.71 2.7 2.69 2.69 2.68 2.67 2.66

[0052] In the embodiment of the present application, the server determines the corresponding meeting distance coefficient according to the change amount of each angle and the corresponding meeting distance, which specifically includes:

[0053] First, the server determines the corresponding meeting distance according to the change in each angle.

[0054] The server can obtain the corresponding meeting distance through each angle change. For example, the preset database of the server stores the angle change ΔA and the meeting distance CPA in the above list. By querying each angle change ΔA in the above list, the meeting distance CPA corresponding to the angle change is obtained.

[0055] Secondly, the server determines the ratio of each encounter distance to the corresponding angle change, and generates a ratio set.

[0056] In the embodiment of the present application, after the server determines the encounter distance, it can be calculated by the formula:

[0057]

[0058] The meeting distance coefficient k1 is obtained when the distance change is 1 nautical mile. Similarly, the meeting distance coefficients k2 and k3 can be obtained when the distance change is 2 nautical miles and 3 nautical miles. After the server obtains the ratio of each meeting distance to the corresponding angle change, it can correspond each ratio to the meeting distance and the angle change, and fill in the meeting distance coefficient k1 row of the above list, thereby obtaining the above list.

[0059] Next, the server determines the average of the elements of each set of ratios.

[0060] The element average is the arithmetic mean of the element values ​​of the ratio set.

[0061] After obtaining the ratio set, the server can add the elements in the ratio set to obtain the arithmetic mean of the addition results. For example, if the element value in the ratio set is the value of the encounter distance coefficient k1 in the above list, the arithmetic mean is 2.7, and the ratio set corresponds to an encounter distance CPA of 1.6 nautical miles.

[0062] Then, the server uses the average value of the elements corresponding to each observation distance as the encounter distance coefficient corresponding to the observation distance.

[0063] The observation distance is moving from the first distance to the second distance.

[0064] After obtaining the element average value, the server uses the element average value as the encounter distance coefficient corresponding to the observed distance. The observed distance moves from the first distance to the second distance. Here, if the encounter distance coefficient obtained through the above list is 2.7, and the observed distance in the list is obtained from 13 nautical miles to 12 nautical miles, the first distance is 13 nautical miles, and the second distance is 12 nautical miles.

[0065] Through the above scheme, the obtained encounter distance coefficient can ensure that the obtained closest encounter distance has a high degree of safety. For example, the above-obtained encounter distance coefficient is 2.7, and the corresponding encounter distance is 1.6 nautical miles. If the actual encounter distance is less than 1.6 nautical miles, then the corresponding actual encounter distance coefficient should be greater than 2.7. At this time, the application uses 2.7, which is less than the actual encounter distance coefficient, multiplied by the azimuth change, and the obtained closest encounter distance will be less than the actual encounter distance. This small error tends to be safe and increases the insurance factor.

[0066] Furthermore, if the actual encounter distance is greater than 1.6 nautical miles, then the corresponding actual encounter distance coefficient should be less than 2.7. At this time, the application uses 2.7, which is greater than the actual encounter distance coefficient, multiplied by the azimuth change, and the closest encounter distance obtained will be greater than the actual encounter distance. Since the larger the closest encounter distance, the better the safety, the navigation personnel can also ensure safe encounter by operating according to the obtained closest encounter distance.

[0067] In one embodiment of the present application, through the above scheme, the meeting distance coefficients k2 and k3 when the distance change is 2 nautical miles and 3 nautical miles can be obtained, as shown in the following table:

[0068]

[0069] In the embodiments of the present application, the specific data of the meeting distance coefficient obtained in the above table are for illustrative purposes only. In actual use, the specific values ​​of the meeting distance coefficient obtained by the above scheme may have errors, and the present application does not make any specific limitation on this.

[0070] In the embodiment of the present application, the server determines the corresponding meeting distance coefficient according to the change amount of each angle and the corresponding meeting distance, which specifically includes:

[0071] First, the server determines the corresponding meeting distance according to the variation of each angle, and generates a distance sequence of each meeting distance.

[0072] In the embodiment of the present application, after obtaining the meeting distance, the server may generate a distance sequence of the meeting distance, for example, by generating a distance sequence from the data of the meeting distance CPA in the above list in ascending order.

[0073] Secondly, the server determines the arithmetic mean of each distance sequence as the first encounter distance.

[0074] The server calculates the sum of all data in the distance sequence, then calculates the arithmetic mean, and uses the arithmetic mean as the first encounter distance. For example, the first encounter distance in the above list is calculated as: 1.4.

[0075] Next, the server matches the distance sequence with the first meeting distance according to a preset rule, so as to determine the second meeting distance according to the matching result.

[0076] The preset rule is to calculate the minimum difference between each element in the distance sequence and the first encounter distance.

[0077] In the embodiment of the present application, since the calculation result of the first meeting distance may be an infinite repeating decimal, an irrational number, etc., the second meeting distance can be determined by a preset rule, that is, by finding the minimum value of the difference between the first meeting distance and each element of the distance sequence. The first meeting distance obtained in the above list is 1.4, and the calculated minimum difference is 0, that is, there is 1.4 nautical miles in the list, and 1.4 nautical miles is used as the second meeting distance.

[0078] Then, the server uses the ratio of the second meeting distance to the corresponding angle change as the meeting distance coefficient of the observation distance corresponding to the angle change.

[0079] The observation distance is moving from the first distance to the second distance.

[0080] The server calculates the ratio of the second encounter distance to the angle change, according to

[0081]

[0082] The meeting distance coefficient is obtained by the calculation method.

[0083] By obtaining the meeting distance coefficient through the above embodiment, the calculation can be simplified and the meeting distance coefficient can be obtained efficiently.

[0084] S104: The server determines a change in the encounter direction of the current encounter object.

[0085] In the embodiment of the present application, the server determines the change in the encounter direction of the current encounter object, such as Figure 3 As shown, the specific steps include:

[0086] S301, the server obtains the distance to the current encounter object in real time through the ranging radar.

[0087] In the embodiment of the present application, a ranging radar is provided on the ship, and the server obtains the distance between the ship and the current encounter object by obtaining the ranging data from the ranging radar. In actual use, if the distance can be obtained by other means, it can also be obtained by other means, and the present application is not limited to obtaining the distance by the ranging radar.

[0088] S302: The server receives a meeting angle corresponding to the interval distance sent by the azimuth indication terminal.

[0089] In the embodiment of the present application, the position indicating terminal may be a user handheld terminal for information exchange with the server, such as a mobile phone, a tablet computer, etc. The position indicating terminal may also be a gyrocompass.

[0090] Specifically, if a gyrocompass is installed on the ship and the gyrocompass is not invalid, the gyrocompass, as an anti-counterfeiting indication terminal, sends the encounter angle of the ship and the encounter object (ship, etc.) during the change of the distance between the ship and the encounter object to the server. The encounter angle is the angle of the encounter object at the closest encounter position with the ship. Figure 2 As shown, the closest meeting position is point B, and the meeting angle of the meeting object at point A is the acute angle BDA formed by point B, point D, and point A. The meeting angle at A' is the acute angle BAA'.

[0091] If the gyrocompass on the ship fails, the gyrocompass usually cannot point to the north or the gyrocompass dial is unstable. When the gyrocompass cannot point to the north but the dial does not move, the server uses the stationary dial and takes the dial as the center to make a ray to the current encounter object to obtain the encounter angle.

[0092] If the gyrocompass dial is unstable, the server can generate a stable dial image and send the stable dial image to the corresponding azimuth indication terminal to determine the encounter angle with the current encounter object through the stable dial image and the gyrocompass pointer.

[0093] S303: The server determines whether the interval distance is within a corresponding preset distance interval.

[0094] In the embodiment of the present application, the preset distance interval is preset by the server, such as [1, 11], [11, 13], [13, 15], etc. The preset distance interval is used by the server to select the change amount of the meeting distance, and then select different meeting distance coefficients.

[0095] S304: When the interval distance is within the corresponding preset distance interval, the server determines a change in the meeting distance that matches the preset distance interval.

[0096] For example, if the interval distance is 13 nautical miles, then it is in the preset distance interval [11, 13], and the server can obtain that the change in the encounter distance matching the preset distance interval is 2 nautical miles.

[0097] S305: The server determines, according to the meeting angle, a change in the meeting angle corresponding to a change in the meeting distance.

[0098] The server determines the change in the encounter angle based on the encounter angle and the obtained change in the encounter distance. Specifically, when the server obtains that the change in the encounter distance is 2 nautical miles, the server can determine the change in the encounter angle of the current encounter object from 13 nautical miles to 11 nautical miles, that is, the acute angle of the encounter angle BDA at 13 nautical miles minus the acute angle of the encounter angle BAA' at 11 nautical miles, and obtain the change in the encounter angle as ΔA.

[0099] Through the above scheme, the present application can quickly and easily obtain the change in the meeting angle, thereby improving the calculation efficiency of the closest meeting distance. At the same time, different meeting distance coefficients can be obtained at different meeting distances, thereby determining the closest meeting distance.

[0100] During sea voyage, when the encounter object does not reach a certain interval distance, the closest encounter distance is determined in real time. For example, if the interval distance is 20 nautical miles or there are multiple encounter objects, there are encounter objects of 20 nautical miles, 15 nautical miles, 11 nautical miles, etc., the closest encounter distance is determined when the encounter distance change corresponding to the interval distance is 1 nautical mile, which not only affects the amount of parallel calculation, but also the data is not too referenceable for sailors. Because if the distance is relatively far, it is very likely that the encounter object will change the driving direction or perform other operations at any time. Therefore, the present application provides different preset distance intervals corresponding to different encounter distance changes to solve the above technical problems, improve the calculation efficiency of the closest encounter distance when ships meet, and improve the user experience of sailors.

[0101] S105: The server determines the shortest encounter distance with the current encounter object based on the encounter direction change and the corresponding encounter distance coefficient.

[0102] In the embodiment of the present application, the server determines the closest encounter distance with the current encounter object based on the encounter direction change amount and the corresponding encounter distance coefficient, specifically including:

[0103] The server determines the interval distance corresponding to the encounter distance change in the encounter direction change.

[0104] The change in the meeting direction includes a change in the meeting distance, a separation distance corresponding to the change in the meeting distance, for example, the change in the meeting distance is 1, and the separation distance is 15 nautical miles to 14 nautical miles, and also includes a change in the meeting angle.

[0105] Next, the server determines a meeting distance coefficient that matches the meeting distance variation and the interval distance.

[0106] Specifically, first, after determining the corresponding meeting distance coefficient, the server generates a distance coefficient coordinate system of the meeting distance coefficient.

[0107] The distance coefficient coordinate system is as follows Figure 4 As shown, the present application provides the encounter distance coefficients k1, k2, and k3 when the distance variation is 1 nautical mile, 2 nautical miles, and 3 nautical miles. In actual use, there may be more distance variations, and the present application does not specifically limit this. Among them, the horizontal axis of the distance coefficient coordinate system is the interval distance with the current encounter object (target ship), and the vertical axis of the distance coefficient coordinate system is the coefficient value of the encounter distance coefficient. The distance coefficient coordinate system includes at least one coefficient curve. The coefficient curve is related to the distance variation.

[0108] Next, the server uses the interval distance in the distance coefficient coordinate system as the starting point, draws a ray along the positive direction of the vertical axis, and determines the vertical coordinate value of the intersection of the ray and the coefficient curve corresponding to the encounter distance change, which is the encounter distance coefficient.

[0109] For example, when the interval distance is 11, taking the horizontal coordinate 11 as the starting point and drawing a ray along the positive direction of the vertical axis, the meeting distance coefficient is 2.0, where the interval distance in this example is the distance before the change in the meeting distance variation, which can be understood as the first distance in the observation distance.

[0110] like Figure 4 As shown in the figure, the coefficient curve corresponding to each distance change is composed of two curves with the same shape and different coordinate positions. It can be understood that different interval distances are used as starting point standards, and different curves are selected to obtain the meeting distance coefficient. When the distance before the change is used as the starting point, it is necessary to select the coordinate value of a curve close to the horizontal axis. If the distance after the change, that is, the second distance, is used as the starting point, it can be seen that there are two meeting distance coefficients obtained with 10 as the horizontal coordinate. At this time, the coordinate value of a curve far away from the horizontal axis in the meeting coefficient curve should be taken.

[0111] Then, the server uses the product of the encounter distance coefficient and the encounter angle change amount of the encounter azimuth change amount as the closest encounter distance with the current encounter object.

[0112] In the embodiment of the present application, the server can use the following formula:

[0113] DCPA=k n ΔA

[0114] Where DCPA is the closest encounter distance, k n is the meeting distance coefficient, and n is a natural number.

[0115] Through the above solution, the meeting distance coefficient can be quickly obtained. The server does not need to perform a table lookup operation, but directly uses the data of the distance coefficient coordinate system to obtain the corresponding meeting distance coefficient, thereby improving the efficiency of obtaining the meeting distance coefficient.

[0116] In the embodiment of the present application, after the server determines the closest encounter distance with the current encounter object, the server further includes:

[0117] First, the server determines whether the closest encounter distance is less than a preset safety distance.

[0118] The preset safety distance can be set by the user or obtained from historical navigation data, and is used to ensure that the ship can make timely adjustments to the navigation direction, speed, etc. when encountering other ships or objects within the preset safety distance to ensure safe navigation.

[0119] When the closest encounter distance is less than the preset safety distance, the server determines the first turning angle according to the preset safety distance and the current interval distance to the current encounter object.

[0120] The server can calculate the inverse trigonometric sine function through the preset safety distance and the current interval distance to obtain the first turning angle.

[0121] Then, the server determines a second turning angle according to the current interval distance and the closest encounter distance.

[0122] The inverse trigonometric sine function is calculated by the closest encounter distance and the current interval distance to obtain the second turning angle.

[0123] Subsequently, the server uses the angle difference between the first steering angle and the second steering angle as the safe steering angle, and sends the safe steering angle to the steering management terminal.

[0124] The navigation personnel of the management terminal can make course adjustments according to the safe turning angle sent by the server, so as to avoid the current encounter object in time.

[0125] Through the above scheme, the present application can monitor the dynamic ship encounter status when there is no APAR radar or the APAR radar fails or the gyrocompass fails, reduce the probability of marine accidents, and ensure the safety of property and ship personnel. It can also help navigation personnel make navigation decisions in time to avoid the possibility of marine accidents.

[0126] Figure 5 A dynamic encounter status monitoring device for marine navigation provided in an embodiment of the present application includes:

[0127] At least one processor; and a memory in communication with the at least one processor. The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:

[0128] Obtain several distance sequence samples. Based on each distance sequence sample and a preset angle formula, determine several angle changes. The angle changes correspond to the encounter distances in the distance sequence samples. Determine the corresponding encounter distance coefficient based on each angle change. The encounter distance coefficient matches the distance change of the distance sequence sample. Determine the encounter azimuth change of the current encounter object. Based on the encounter azimuth change, determine the closest encounter distance with the current encounter object through the corresponding encounter distance coefficient.

[0129] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0130] The device and method provided in the embodiments of the present application correspond one to one, and therefore, the device also has similar beneficial technical effects as the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the device will not be repeated here.

[0131] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0132] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A dynamic encounter status monitoring method for marine navigation, characterized in that: The method comprises: Obtain several distance sequence samples; Based on each of the distance sequence samples and a preset angle formula, a number of angle changes are determined; wherein the angle changes correspond one-to-one to the encounter distances in the distance sequence samples; Determine a corresponding meeting distance coefficient according to each of the angle changes and the corresponding meeting distance; wherein the meeting distance coefficient matches the distance change of the distance sequence sample; the determination of the corresponding meeting distance coefficient comprises: determining the arithmetic mean of each of the distance sequence samples as the first meeting distance; matching the distance sequence samples with the first meeting distance according to a preset rule, so as to determine a second meeting distance according to the matching result; wherein the preset rule is to calculate the minimum difference between each element in the distance sequence and the first meeting distance; and taking the ratio of the second meeting distance to the corresponding angle change as the meeting distance coefficient of the observation distance corresponding to the angle change; wherein the observation distance is moving from the first distance to the second distance; Determining the change in the encounter azimuth of the current encounter object, including: judging whether the gyro compass is invalid, if the gyro compass is not invalid, obtaining the change in the encounter azimuth through the gyro compass, if the gyro compass is invalid, continuing to judge whether the dial of the gyro compass is stable, if the dial of the gyro compass is stable, taking the dial of the gyro compass as the center, making a ray to the current encounter object to obtain the change in the encounter azimuth, if the dial of the gyro compass is unstable, obtaining the change in the encounter azimuth through a stable dial image and a pointer of the gyro compass; Based on the change in the encounter azimuth, the shortest encounter distance with the current encounter object is determined by using the corresponding encounter distance coefficient.

2. The method according to claim 1, characterized in that: Based on each of the distance sequence samples and the preset angle formula, several angle changes are determined, specifically including: Determine a first distance and a second distance of each observed distance in each of the distance sequence samples; the first distance and the second distance are distances collected at different times; According to the first distance, the second distance and each meeting distance in the distance sequence sample, a first meeting angle change value corresponding to the first distance to the meeting distance and an angle difference between a second meeting angle change value corresponding to the second distance to the meeting distance are determined as the angle change amount corresponding to the observation distance.

3. The method according to claim 1, characterized in that: Determining a corresponding meeting distance coefficient according to each of the angle changes and the corresponding meeting distance specifically includes: Determining the corresponding meeting distance according to each of the angle changes; Determine the ratio of each of the meeting distances to the corresponding angle change, and generate a ratio set; Determine an element average value of each of the ratio sets; wherein the element average value is the arithmetic mean value of each element value of the ratio set; The average value of the elements corresponding to each observation distance is used as the meeting distance coefficient corresponding to the observation distance; wherein the observation distance is moving from the first distance to the second distance.

4. The method according to claim 1, characterized in that: Determine the change in the encounter direction of the current encounter object, specifically including: By using a ranging radar, obtaining in real time the distance between the object and the object currently being encountered; and receiving a meeting angle corresponding to the interval distance sent by the azimuth indication terminal; Determining whether the interval distance is within a corresponding preset distance interval; When the interval distance is within the corresponding preset distance interval, determining a change in the encounter distance that matches the preset distance interval; And according to the meeting angle, the meeting angle change amount corresponding to the meeting distance change amount is determined.

5. The method according to claim 1, characterized in that: Based on the change in the encounter direction, determining the closest encounter distance with the current encounter object by using the corresponding encounter distance coefficient specifically includes: Determine the interval distance corresponding to the encounter distance change in the encounter azimuth change; Determining the encounter distance coefficient that matches the encounter distance change and the interval distance; The product of the encounter distance coefficient and the encounter angle change of the encounter azimuth change is used as the closest encounter distance with the current encounter object.

6. The method according to claim 5, characterized in that: Determining the encounter distance coefficient that matches the encounter distance change and the interval distance specifically includes: After determining the corresponding encounter distance coefficient, a distance coefficient coordinate system of the encounter distance coefficient is generated; wherein the horizontal axis of the distance coefficient coordinate system is the interval distance from the current encounter object, and the vertical axis of the distance coefficient coordinate system is the coefficient value of the encounter distance coefficient; the distance coefficient coordinate system includes at least one coefficient curve; and the coefficient curve is related to the distance variation; Taking the interval distance in the distance coefficient coordinate system as the starting point, a ray is drawn along the positive direction of the longitudinal axis, and the longitudinal coordinate value of the intersection of the ray and the coefficient curve corresponding to the encounter distance change is determined as the encounter distance coefficient.

7. The method according to claim 1, characterized in that: After determining the closest encounter distance with the current encounter object, the method further includes: Determine whether the closest encounter distance is less than a preset safety distance; When the closest encounter distance is less than the preset safety distance, determining a first turning angle according to the preset safety distance and a current interval distance from the current encounter object; Determining a second turning angle according to the current interval distance and the closest encounter distance; The angle difference between the first steering angle and the second steering angle is used as a safe steering angle, and the safe steering angle is sent to a steering management terminal.

8. The method according to claim 1, characterized in that: The distance sequence sample at least includes: a number of the encounter distances, a distance change corresponding to each of the encounter distances, and an observed distance corresponding to the distance change; The observation distance includes at least a first distance and a second distance; the first distance and the second distance are distances from the currently encountered object at different times.

9. A dynamic encounter status monitoring device for marine navigation, characterized in that: The device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute a dynamic encounter status monitoring method for marine navigation as described in any one of claims 1-8.

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