System and calculation method for high-precision positioning of inland waterway vessels

Abstract

This invention provides a system and calculation method for high-precision attitude determination and positioning of inland waterway vessels. The system of this invention can achieve high-precision positioning and real-time attitude monitoring of inland waterway vessels by installing multiple Beidou positioning terminals on the vessels and combining them with Beidou ground-based augmentation stations and water level gauges. Moreover, the cost of multiple Beidou positioning terminals is relatively low. In other words, the system of this invention can achieve real-time attitude monitoring and high-precision positioning of inland waterway vessels at low cost, alleviating the technical problem that existing technologies cannot achieve real-time attitude monitoring and high-precision positioning of inland waterway vessels at low cost.

Description

Technical Field

[0001] This invention relates to the technical field of ship attitude determination and positioning, and in particular to a system and calculation method for high-precision attitude determination and positioning of inland waterway vessels. Background Technology

[0002] During navigation, a ship's attitude is determined by six degrees of freedom: sway, pitch, heave, roll, pitch, and bow roll. Figure 1 The diagram illustrates the six degrees of freedom of a ship's attitude. These six degrees of freedom correspond to lateral movement, longitudinal movement, vertical movement, lateral rotation about the longitudinal axis, longitudinal rotation about the transverse axis, and horizontal rotation about the vertical axis. Figure 1 As can be seen from the diagram, the sway is along the Y-axis in the graph. B Translation along the axis; surge along the X axis in the diagram. B Translation along the axis; heave along the Z axis in the diagram. B The axis moves vertically; the roll is around the X axis in the diagram. B The axis rotates; the pitch is the rotation around the Y axis in the diagram. B The axis rotates; yaw is the rotation around Z in the diagram. B The attitude sensor (three-axis accelerometer and three-axis gyroscope) is used to accurately monitor the ship's attitude and position during navigation. Essentially, the attitude sensor combines data from the gyroscope, accelerometer, and their fusion calculations to collect data on all six degrees of freedom of the ship, thus aiding navigation. Attitude sensors are precision instruments, expensive, and require a stable power supply and operating environment.

[0003] Inland waterway vessels are generally small and do not have the conditions to install attitude control devices. However, they still have the need for attitude control, positioning, and high-precision navigation during navigation. This is especially true when inland waterway vessels are navigating in canalized channels of natural rivers, where deviation from the main channel poses a risk of grounding. Therefore, a low-cost, high-precision attitude control, positioning, and navigation device is needed. Currently, there is no such equipment or system on the market.

[0004] Previously, ships commonly used AIS for positioning and navigation. AIS also utilizes GPS, BeiDou, or dual-mode satellite signals for positioning and navigation. In recent years, BeiDou has become widely used for navigation, positioning, and dynamic management of marine fishing vessels. BeiDou positioning terminals have also been promoted on some inland waterway cargo ships for vessel positioning and monitoring. Because BeiDou positioning terminals were relatively expensive a few years ago, typically only one terminal was installed per vessel for positioning and navigation. However, due to its single-terminal, single-point positioning accuracy, it could only achieve meter-level accuracy and could not monitor vessel attitude or provide higher-precision positioning and navigation. In natural river canalized channels, and in bridge areas, locks, and sections of inland waterways with high vessel traffic, ships increasingly require real-time monitoring of their navigation attitude or higher-precision positioning.

[0005] In summary, how to achieve real-time monitoring and high-precision positioning of inland waterway vessel attitude at low cost has become an urgent technical problem to be solved. Summary of the Invention

[0006] In view of this, the purpose of this invention is to provide a system and calculation method for high-precision attitude determination and positioning of inland waterway vessels, so as to alleviate the technical problem that it is impossible to achieve real-time monitoring and high-precision positioning of inland waterway vessel attitude at low cost.

[0007] In a first aspect, embodiments of the present invention provide a high-precision attitude determination and positioning system for inland waterway vessels, comprising: a BeiDou communication terminal, a BeiDou ground-based augmentation station, a monitoring and management system, and a water level gauge;

[0008] The Beidou communication terminal includes multiple Beidou positioning terminals, and the Beidou positioning terminals are fixedly installed at the target location of the inland waterway vessel and are communicatively connected to the monitoring and management system. The Beidou communication terminal is used to locate the current position of the inland waterway vessel and send the obtained three-dimensional spatial positioning data to the monitoring and management system.

[0009] The BeiDou ground-based augmentation station is set up on the shore along the waterway to broadcast the integrated positioning error in real time, so that the monitoring and management system can obtain the integrated positioning error.

[0010] The water level gauge is installed on the bank along the waterway and is connected to the monitoring and management system to detect the water level in the waterway in real time and send the water level to the monitoring and management system.

[0011] The monitoring and management system is used to calculate the current position and attitude of the inland waterway vessel based on the three-dimensional spatial positioning data, the comprehensive positioning error, and the waterway level, so as to obtain the real-time target positioning data and target attitude data of the inland waterway vessel. The target positioning data includes: the center point coordinates, freeboard height, and draft of the inland waterway vessel. The target attitude data includes: sway, pitch, heave, roll, pitch, and bow roll.

[0012] Furthermore, it also includes: navigation terminals;

[0013] The navigation terminal is installed on the inland waterway vessel and is communicatively connected to the monitoring and management system. The navigation terminal is used to display navigation maps, real-time target positioning data, real-time target attitude data, navigation information, and navigation safety alarm information.

[0014] Furthermore, it also includes: Doppler profilers;

[0015] The Doppler profiler is installed on the shore along the waterway and is connected to the monitoring and management system. The Doppler profiler is used to measure the cross-sectional flow velocity and flow rate in real time, and provides hydrological monitoring and early warning information of the navigation area to the inland waterway vessels through the monitoring and management system.

[0016] Furthermore, the BeiDou communication terminal includes: multiple BeiDou positioning terminals, a serial port server, and a communication module;

[0017] Each Beidou positioning terminal is connected to the serial port server, and the serial port server is connected to the communication module. The Beidou positioning terminal is used to locate the current position of the inland waterway vessel and send the obtained three-dimensional spatial positioning data to the monitoring and management system via the serial port server and the communication module.

[0018] Furthermore, the number of Beidou positioning terminals is four, and the target locations include: bow, stern, midships on the port side of the hull, and midships on the starboard side of the hull. One Beidou positioning terminal is set at each target location, and the four Beidou positioning terminals are kept horizontal in the vertical direction.

[0019] The BeiDou positioning terminal includes a receiver and a BeiDou antenna.

[0020] Furthermore, the monitoring and management system includes: a server and a client;

[0021] The server is used to set monitoring system parameters, receive device data, calculate ship attitude, calculate ship positioning, provide ship navigation services, judge alarms, and record monitoring data.

[0022] The client is used to display waterway charts, real-time target positioning data of all monitored and managed inland waterway vessels, real-time target attitude data, and navigation safety alarm information.

[0023] Furthermore, the monitoring and management system is also used to receive the cross-sectional flow velocity and flow rate measured by the Doppler profiler, and to determine the hydrological monitoring and early warning information of the navigation area based on the cross-sectional flow velocity and the flow rate.

[0024] Furthermore, the navigation terminal includes a terminal device with navigation software.

[0025] Furthermore, the three-dimensional spatial positioning data includes: bow three-dimensional spatial coordinates, stern three-dimensional spatial coordinates, port midships three-dimensional spatial coordinates, and starboard midships three-dimensional spatial coordinates.

[0026] Secondly, embodiments of the present invention also provide a calculation method for high-precision attitude determination and positioning of inland waterway vessels, applied to the monitoring and management system described in any of the first aspects above, the method comprising:

[0027] The system obtains the three-dimensional spatial coordinates of the bow, stern, port midships, and starboard midships of the inland waterway vessel by locating the current position of the vessel using the BeiDou communication terminal. It also obtains the comprehensive positioning error broadcast by the BeiDou ground-based augmentation station and the water level of the waterway detected by the water level gauge.

[0028] Based on the comprehensive positioning error, the bow three-dimensional spatial coordinates, stern three-dimensional spatial coordinates, port side mid-section three-dimensional spatial coordinates, and starboard side mid-section three-dimensional spatial coordinates are corrected to obtain the corrected bow three-dimensional spatial coordinates, corrected stern three-dimensional spatial coordinates, corrected port side mid-section three-dimensional spatial coordinates, and corrected starboard side mid-section three-dimensional spatial coordinates.

[0029] Calculation formula based on center point coordinates Calculate the coordinates of the center point of the inland waterway vessel, where x O The x-coordinate of the center point of the inland waterway vessel is represented by y. O The z-coordinate represents the ordinate of the center point of the inland waterway vessel. O The vertical coordinate of the center point of the inland waterway vessel is represented by x. A The x-coordinate represents the corrected bow coordinate. B yA represents the corrected x-coordinate of the stern, and yA represents the corrected y-coordinate of the bow. B This represents the corrected ordinate of the stern, z. A This represents the corrected vertical coordinate of the bow, z. B This indicates the corrected vertical coordinates of the stern:

[0030] The formula for calculating freeboard height is f = z. O -H calculates the freeboard height, where f represents the freeboard height, z O The vertical coordinates of the center point of the inland waterway vessel are represented by H, and the water level of the waterway is represented by H.

[0031] The ship's draft is calculated using the formula d = hf, where d represents the ship's draft, h represents the ship's height, and f represents the freeboard height.

[0032] According to the left sway calculation formula v 左 =x C1 -x C2 Calculate the left sway and, based on the right sway, calculate the formula V. 右 =x D1 -x D2 Calculate the right sway, where V 左 V represents the left sway in the sway. 右 Indicates the right sway in the sway, x C1 The x-coordinate represents the corrected x-coordinate of the ship's port side midline at the current moment. C2 The x-coordinate represents the corrected x-coordinate of the port side midships of the ship at the previous moment. D1 The x-coordinate represents the corrected x-coordinate of the starboard midships of the ship at the current moment. D2 This represents the corrected x-coordinate of the starboard midships of the hull at the previous moment;

[0033] According to the formula U for calculating bow heave 艏 =y A1 -y A2 Calculate the bow heave and, based on the stern heave, calculate formula U. 艉 =y B1 -y B2 Calculate the stern heave, where U 艏 U represents the bow heave during the heave. 艉 This indicates the stern heave during the heave, y A1 This represents the corrected ordinate of the bow at the current moment, y. A2 This represents the corrected ordinate of the bow at the previous moment, y. B1 This represents the corrected y-coordinate of the stern at the current moment. B2 This represents the corrected stern coordinate from the previous moment;

[0034] According to the heave calculation formula W 中 =z o1 -z o2 Calculate the heave, where W 中 The z represents the drooping. o1This represents the corrected vertical coordinate of the center point at the current moment, z. o2 Represents the corrected vertical coordinates of the center point at the previous moment;

[0035] According to the calculation formula for roll Calculate the roll, where θ represents the angle of the roll, z C This represents the corrected vertical coordinate of the ship's port side midline at the current moment, z. o This represents the corrected vertical coordinate of the center point at the current moment, x. C The x-coordinate represents the corrected x-coordinate of the ship's port side midline at the current moment. O The x-coordinate of the center point at the current moment is the corrected coordinate.

[0036] According to the pitch calculation formula Calculate the pitch, where ψ represents the pitch angle, z A This represents the corrected vertical coordinate of the bow at the current moment, z. o This represents the corrected vertical coordinate of the center point at the current moment, y A This represents the corrected ordinate of the bow at the current moment, y. O The corrected ordinate of the center point at the current moment;

[0037] According to the formula for calculating bow roll Calculate the bow roll, where, The angle of the bow roll is represented by x. A This represents the corrected x-coordinate of the bow at the current moment. o The x-coordinate of the current corrected center point is represented by y. A This represents the corrected ordinate of the bow at the current moment, y. O This represents the corrected ordinate of the center point at the current moment.

[0038] In this embodiment of the invention, a high-precision attitude determination and positioning system for inland waterway vessels is provided, comprising: a BeiDou communication terminal, a BeiDou ground-based augmentation station, a monitoring and management system, and a water level gauge; the BeiDou communication terminal includes multiple BeiDou positioning terminals, which are fixedly installed at the target location of the inland waterway vessel and communicate with the monitoring and management system. The BeiDou communication terminal is used to locate the current position of the inland waterway vessel and send the obtained three-dimensional spatial positioning data to the monitoring and management system; the BeiDou ground-based augmentation station is set up on the shore along the waterway and is used to broadcast the comprehensive positioning error in real time to ensure that the monitoring and management system can accurately determine the position of the vessel. The system acquires the comprehensive positioning error; the water level gauge is installed on the bank along the waterway and communicates with the monitoring and management system to detect the water level in real time and send the water level data to the monitoring and management system; the monitoring and management system calculates the current position and attitude of the inland waterway vessel based on the three-dimensional spatial positioning data, the comprehensive positioning error, and the water level, obtaining the real-time target positioning data and target attitude data of the inland waterway vessel. The target positioning data includes: the center point coordinates, freeboard height, and draft of the inland waterway vessel; the target attitude data includes: sway, pitch, heave, roll, pitch, and bow roll. As described above, the high-precision attitude and positioning system for inland waterway vessels of this invention, by installing multiple BeiDou positioning terminals on the inland waterway vessel, combined with BeiDou ground-based augmentation stations and water level gauges, can achieve high-precision positioning and real-time attitude monitoring of inland waterway vessels. Furthermore, the cost of multiple BeiDou positioning terminals is relatively low. Therefore, the system of this invention can achieve real-time attitude monitoring and high-precision positioning of inland waterway vessels at low cost, alleviating the technical problem that existing technologies cannot achieve real-time attitude monitoring and high-precision positioning of inland waterway vessels at low cost. Attached Figure Description

[0039] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0040] Figure 1 A schematic diagram of the six degrees of freedom of ship attitude provided in an embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of the structure of a high-precision attitude determination and positioning system for inland waterway vessels provided in an embodiment of the present invention;

[0042] Figure 3 A three-dimensional schematic diagram of the installation location of the Beidou positioning terminal provided in an embodiment of the present invention;

[0043] Figure 4A plan view of the installation location of the Beidou positioning terminal provided in an embodiment of the present invention;

[0044] Figure 5 A schematic diagram illustrating the working principle of a BeiDou ground-based augmentation station provided in an embodiment of the present invention;

[0045] Figure 6 A schematic diagram illustrating the calculation relationship between freeboard height and ship draft provided in an embodiment of the present invention;

[0046] Figure 7 A schematic diagram illustrating the calculation principle of left sway provided in an embodiment of the present invention;

[0047] Figure 8 A schematic diagram illustrating the calculation principle of bow heave provided in an embodiment of the present invention;

[0048] Figure 9 A schematic diagram illustrating the calculation principle of heave provided in an embodiment of the present invention;

[0049] Figure 10 A schematic diagram illustrating the calculation principle of roll as provided in an embodiment of the present invention;

[0050] Figure 11 This is a schematic diagram illustrating the relationship between the magnitude of the roll and the rotation, provided in an embodiment of the present invention.

[0051] Figure 12 This is a schematic diagram illustrating the relationship between the magnitude of pitch and rotation, provided in an embodiment of the present invention.

[0052] Figure 13 This is a schematic diagram illustrating the relationship between the magnitude of bow roll and rotation, provided for an embodiment of the present invention.

[0053] Icons: 11-BeiDou communication terminal; 12-BeiDou ground-based augmentation station; 13-Monitoring and management system; 14-Water level gauge. Detailed Implementation

[0054] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] Existing technologies cannot achieve real-time monitoring and high-precision positioning of inland waterway vessel attitude at low cost.

[0056] Based on this, the high-precision attitude determination and positioning system for inland waterway vessels of the present invention can achieve high-precision positioning and real-time attitude monitoring of inland waterway vessels by installing multiple Beidou positioning terminals on the vessels and combining them with Beidou ground-based augmentation stations and water level gauges. Moreover, the cost of multiple Beidou positioning terminals is low, meaning that the system of the present invention can achieve real-time attitude monitoring and high-precision positioning of inland waterway vessels at low cost.

[0057] To facilitate understanding of this embodiment, a detailed description of a high-precision attitude determination and positioning system for inland waterway vessels disclosed in this embodiment of the invention will be provided first.

[0058] Example 1:

[0059] Figure 2 This is a schematic diagram of a high-precision attitude and positioning system for inland waterway vessels according to an embodiment of the present invention, as shown below. Figure 2 As shown, it includes: Beidou communication terminal 11, Beidou ground-based augmentation station 12, monitoring and management system 13 and water level gauge 14;

[0060] The Beidou communication terminal 11 contains multiple Beidou positioning terminals, and the Beidou positioning terminals are fixedly installed at the target location of the inland waterway vessel and are connected to the monitoring and management system 13. The Beidou communication terminal 11 is used to locate the current position of the inland waterway vessel and send the obtained three-dimensional spatial positioning data to the monitoring and management system 13.

[0061] The Beidou ground-based augmentation station 12 is set up on the shore along the waterway to broadcast the comprehensive positioning error in real time so that the monitoring and management system 13 can obtain the comprehensive positioning error.

[0062] The water level gauge 14 is installed on the bank along the waterway and is connected to the monitoring and management system 13 for real-time detection of the waterway water level and sending the water level data to the monitoring and management system 13.

[0063] The monitoring and management system 13 is used to calculate the current position and attitude of inland waterway vessels based on three-dimensional spatial positioning data, comprehensive positioning error and waterway water level, and obtain real-time target positioning data and target attitude data of inland waterway vessels. The target positioning data includes: center point coordinates, freeboard height and draft of the inland waterway vessel, and the target attitude data includes: sway, pitch, heave, roll, pitch and bow roll.

[0064] The high-precision attitude determination and positioning system for inland waterway vessels of this invention adopts the increasingly mature BeiDou differential positioning technology and uses a technical route that combines shipborne multiple BeiDou positioning terminals and BeiDou ground-based augmentation stations 12. It can realize real-time monitoring of the six degrees of freedom attitude of inland waterway vessels and centimeter-level high-precision positioning and navigation.

[0065] Furthermore, due to strong national support for the promotion and application of the BeiDou Navigation Satellite System, BeiDou navigation and positioning terminals have been widely used in various industries, and the cost of BeiDou terminals is becoming increasingly affordable. This makes the proposed model of multiple BeiDou positioning terminals per ship feasible in terms of cost, keeping it below 10,000 yuan. Meanwhile, with the recent construction of new infrastructure for inland waterways in my country, BeiDou ground-based augmentation stations 12 have been built along newly renovated waterways, essentially achieving high-precision positioning service coverage. This makes high-precision attitude determination, positioning, and navigation technology based on multiple BeiDou positioning terminals per ship possible.

[0066] The aforementioned BeiDou ground-based augmentation station 12 includes: a reference station, a data processing system, a data broadcasting system, an operation service system, and a user terminal. It uses differential positioning technology and provides differential correction signals through continuously operating ground reference stations to improve satellite navigation accuracy. The optimized positioning accuracy can reach the centimeter level (2-5cm).

[0067] Several regions in my country have established provincial-level CORS (Continuously Operating Satellite Navigation Service System, i.e., BeiDou Ground-Based Augmentation Station 12), which can meet the service needs within the region. In addition, with the construction of new infrastructure for inland waterways in my country, BeiDou Ground-Based Augmentation Station 12 has been built along the newly renovated waterways, and high-precision positioning services have been basically achieved for the waterways.

[0068] The technical approach of this invention allows for the direct use of ground-based augmentation differential services in navigation areas with regional coverage. In areas without BeiDou ground-based augmentation station coverage, ground-based augmentation stations can be constructed on the shore of the waterway.

[0069] In this embodiment of the invention, a high-precision attitude determination and positioning system for inland waterway vessels is provided, comprising: a Beidou communication terminal 11, a Beidou ground-based augmentation station 12, a monitoring and management system 13, and a water level gauge 14; the Beidou communication terminal 11 contains multiple Beidou positioning terminals, which are fixedly installed at the target location of the inland waterway vessel and are communicatively connected to the monitoring and management system 13. The Beidou communication terminal 11 is used to locate the current position of the inland waterway vessel and send the obtained three-dimensional spatial positioning data to the monitoring and management system 13; the Beidou ground-based augmentation station 12 is set up on the shore along the waterway and is used to broadcast the comprehensive positioning error in real time, so as to... The monitoring and management system 13 acquires the comprehensive positioning error; the water level gauge 14 is installed on the bank along the waterway and is connected to the monitoring and management system 13 for real-time detection of the waterway water level and transmission of the waterway water level to the monitoring and management system 13; the monitoring and management system 13 is used to calculate the current position and attitude of the inland waterway vessel based on the three-dimensional spatial positioning data, the comprehensive positioning error and the waterway water level, and obtain the real-time target positioning data and target attitude data of the inland waterway vessel. The target positioning data includes: the center point coordinates, freeboard height and draft of the inland waterway vessel, and the target attitude data includes: sway, pitch, heave, roll, pitch and bow roll. As described above, the high-precision attitude determination and positioning system for inland waterway vessels of the present invention can achieve high-precision positioning and real-time attitude monitoring of inland waterway vessels by installing multiple Beidou positioning terminals on the vessels and combining them with the Beidou ground-based augmentation station 12 and the water level gauge 14. Moreover, the cost of multiple Beidou positioning terminals is low. In other words, the system of the present invention can achieve real-time attitude monitoring and high-precision positioning of inland waterway vessels at low cost, alleviating the technical problem that the prior art cannot achieve real-time attitude monitoring and high-precision positioning of inland waterway vessels at low cost.

[0070] The above provides a brief overview of the high-precision attitude and positioning system for inland waterway vessels of the present invention. The specific details involved are described in detail below.

[0071] In an optional embodiment of the present invention, the system further includes: a navigation terminal;

[0072] The navigation terminal is installed on the inland waterway vessel and is connected to the monitoring and management system 13. The navigation terminal is used to display navigation maps, real-time target positioning data, real-time target attitude data, navigation information, and navigation safety alarm information.

[0073] Specifically, the navigation terminal includes: a terminal device with navigation software, such as a tablet computer or a smartphone. This embodiment of the invention does not impose specific restrictions on the terminal device. The navigation terminal can access data from the shore monitoring and management system 13.

[0074] In an optional embodiment of the present invention, the system further includes: a Doppler profiler;

[0075] The Doppler profiler is installed on the shore along the waterway and is connected to the monitoring and management system 13. The Doppler profiler is used to measure the cross-sectional flow velocity and flow rate in real time and to provide hydrological monitoring and early warning information of the navigation area to inland waterway vessels through the monitoring and management system 13.

[0076] The monitoring and management system 13 is also used to receive cross-sectional flow velocity and flow rate measured by a Doppler profiler, and to determine hydrological monitoring and early warning information for the navigation area based on the cross-sectional flow velocity and flow rate, and then send the hydrological monitoring and early warning information to the navigation terminal.

[0077] In an optional embodiment of the present invention, the monitoring and management system 13 includes: a server and a client;

[0078] The server is used to set monitoring system parameters, receive equipment data, calculate ship attitude, calculate ship positioning, provide ship navigation services, judge alarms, and record monitoring data.

[0079] The client is used to display waterway charts, real-time target positioning data of all monitored and managed inland waterway vessels, real-time target attitude data, and navigation safety alarm information.

[0080] Specifically, the server is installed in the computer room. Through the monitoring and management system 13, it can set monitoring system parameters, receive equipment data, calculate ship attitude, calculate ship positioning, provide ship navigation services, determine alarms, and record monitoring data. The client can be accessed through a browser and has a nautical chart display function, which can display the real-time position and attitude of all monitored and managed ships and provide alarm prompts for ship navigation safety risks.

[0081] In an optional embodiment of the present invention, the Beidou communication terminal 11 includes: multiple Beidou positioning terminals, a serial port server, and a communication module;

[0082] Each Beidou positioning terminal is connected to a serial port server, which in turn is connected to a communication module. The Beidou positioning terminal is used to locate the current position of inland waterway vessels and sends the obtained three-dimensional spatial positioning data to the monitoring and management system 13 via the serial port server and the communication module.

[0083] The aforementioned communication module can be a 4G communication module, and this embodiment of the invention does not impose specific limitations on the aforementioned communication module.

[0084] In an alternative embodiment of the present invention, reference is made to... Figure 3 There are 4 Beidou positioning terminals. The target locations include: bow, stern, midships on the port side of the hull, and midships on the starboard side of the hull. One Beidou positioning terminal is set at each target location, and the 4 Beidou positioning terminals are kept horizontal in the vertical direction.

[0085] The BeiDou positioning terminal includes a receiver and a BeiDou antenna.

[0086] Specifically, each ship is equipped with four sets of shipborne BeiDou positioning terminals (such as...). Figure 3 As shown, that is Figure 3 The Beidou terminals are installed at the bow (Beidou Terminal A), stern (Beidou Terminal B), port midships (Beidou Terminal C), and starboard midships (Beidou Terminal D) of the inland waterway vessel, forming a rhombus shape (e.g., ...). Figure 4 (As shown). The four Beidou positioning terminals are precisely calibrated during installation, ensuring that the four points remain horizontal in the vertical direction, with points A and B both on the longitudinal axis of the ship, and points C and D both on the transverse axis of the ship.

[0087] The four BeiDou positioning terminals installed on the ship, together with BeiDou ground-based augmentation station 12, constitute a BeiDou differential positioning system capable of comprehensive positioning correction. Figure 5 By using the comprehensive positioning error broadcast in real time by the BeiDou ground-based augmentation station 12, the BeiDou positioning terminal can correct the positioning error in real time, thereby improving the positioning accuracy of each point to an accuracy of 2-5 centimeters.

[0088] In an optional embodiment of the present invention, the three-dimensional spatial positioning data includes: bow three-dimensional spatial coordinates, stern three-dimensional spatial coordinates, port midships three-dimensional spatial coordinates, and starboard midships three-dimensional spatial coordinates.

[0089] Example 2:

[0090] This invention also provides a method for calculating high-precision attitude and positioning of inland waterway vessels, applicable to the monitoring and management system of any of the above embodiments. The method includes the following steps:

[0091] (1) Obtain the three-dimensional spatial coordinates of the bow, stern, port side midships, and starboard side midships of the ship obtained by the Beidou communication terminal for positioning the current position of the inland waterway vessel, and obtain the comprehensive positioning error broadcast by the Beidou ground-based augmentation station and the water level of the waterway detected by the water level gauge.

[0092] (2) Based on the comprehensive positioning error, the three-dimensional spatial coordinates of the bow, stern, port side midships, and starboard side midships are corrected to obtain the corrected three-dimensional spatial coordinates of the bow, stern, port side midships, and starboard side midships.

[0093] Specifically, the corrected three-dimensional spatial coordinates of the bow can be represented as (x A y A , z A(Data collected by the Beidou positioning terminal at the bow), the corrected three-dimensional spatial coordinates of the stern can be expressed as (x... B y B , z B (Data collected by the Beidou positioning terminal at the stern), the corrected three-dimensional spatial coordinates of the port side mid-section of the hull can be expressed as (x... C y C , z C (Data collected by the Beidou positioning terminal at the midships of the port side of the hull), the corrected three-dimensional spatial coordinates of the midships of the starboard side of the hull can be represented as (x D y D , z D (The data was collected by the Beidou positioning terminal on the mid-starboard side of the ship). The accuracy of the above-mentioned corrected three-dimensional spatial coordinates is 2-5 centimeters.

[0094] (3) Calculate the formula based on the coordinates of the center point. Calculate the coordinates of the center point of the inland waterway vessel, where x O The x-coordinate of the center point of an inland waterway vessel, y O The z-coordinate represents the center point of an inland waterway vessel. O The vertical coordinate of the center point of an inland waterway vessel, x A The x-coordinate represents the corrected bow coordinate. B The x-coordinate of the corrected stern is represented by y. A This represents the corrected ordinate of the bow, y. B This represents the corrected ordinate of the stern, z. A This represents the corrected vertical coordinate of the bow, z. B This indicates the corrected vertical coordinates of the stern;

[0095] Specifically, the high-precision three-dimensional spatial positioning coordinates of the center point of inland waterway vessels can be obtained through calculation, which can be used for vessel positioning on two-dimensional and three-dimensional waterway charts; the real-time freeboard height and real-time draft of the vessel can also be obtained through calculation, which can be used to monitor the determination of the absolute spatial position of the vessel when it is navigating on the water.

[0096] In the application system, center point coordinates are used for the positioning and display of inland waterway vessel symbols. It is assumed that the three-dimensional spatial coordinates of the center point of the inland waterway vessel are (x...). O y O , z O ),but:

[0097]

[0098] Among them, (x O y OThe coordinates of the center point of an inland waterway vessel (i.e., the x-coordinate and y-coordinate of the center point) can be used for high-precision planar positioning of the vessel on a two-dimensional waterway chart, i.e., the planar positioning coordinates of the center point of the vessel symbol in the software system.

[0099] z O It is the vertical coordinate of the center point of an inland waterway vessel, also known as the vessel elevation, which can be used for the three-dimensional spatial positioning of the vessel on a three-dimensional waterway chart.

[0100] (4) The formula for calculating f = z based on the freeboard height is: O -H calculates the freeboard height, where f represents the freeboard height, and z O The vertical coordinates of the center point of the inland waterway vessel are represented by H, where H represents the water level of the waterway.

[0101] Specifically, the real-time freeboard height of a vessel can be calculated by subtracting its elevation (i.e., the vertical coordinate of the center point of an inland waterway vessel) from the real-time water level data of the channel.

[0102] (5) Calculate the ship's draft according to the ship's draft calculation formula d = hf, where d represents the ship's draft, h represents the ship's height, and f represents the freeboard height;

[0103] Specifically, the real-time draft of a ship is calculated by subtracting its freeboard height from its height. Figure 6 The diagram illustrates the calculated relationship between freeboard height and ship draft.

[0104] (6) Calculate v based on the left sway formula 左 =x C1 -x C2 Calculate the left sway and, based on the right sway, calculate the formula V. 右 =x D1 -x D2 Calculate the right sway, where V 左 V represents the left sway within a sway. 右 Indicates the right sway within a sway, x C1 The x-coordinate represents the corrected x-coordinate of the ship's port side midline at the current moment. C2 The x-coordinate represents the corrected x-coordinate of the port side midships of the ship at the previous moment. D1 The x-coordinate represents the corrected x-coordinate of the starboard midships of the ship at the current moment. D2 This represents the corrected x-coordinate of the starboard midships of the hull at the previous moment;

[0105] Specifically, real-time attitude data of inland waterway vessels can be obtained through calculations, namely, sway, surge, heave, roll, pitch, and yaw—the six degrees of freedom of inland waterway vessels. Using this real-time data, high-precision attitude determination of inland waterway vessels can be achieved.

[0106] Left sway (i.e., left-side sway), that is, along Figure 1 The middle horizontal axis Y B lateral translation, v 左 =x C1 -x C2 , where v 左 Indicates the left sway within a sway, x C1 This represents the corrected x-coordinate of the midships port side of the hull at the current moment (collected by the BeiDou positioning terminal at the midships port side of the hull). C2 This represents the corrected x-coordinate of the ship's port side midline at the previous moment. (Reference) Figure 7 It can be seen that when V>0, the ship travels along Y. B The ship moves to the left along the axis; when V < 0, the ship moves along the Y axis. B The ship moves to the right along the axis; when V=0, the ship remains stationary laterally.

[0107] At the same time, V 右 =x D1 -x D2 , where V 右 Indicates the right sway within a sway, x D1 This represents the corrected x-coordinate of the starboard midships of the hull at the current moment (collected by the BeiDou positioning terminal at the starboard midships of the hull). D2 This represents the corrected x-coordinate of the starboard midships of the hull at the previous moment. Starboard sway (i.e., right-side sway) is used to verify and correct errors in portboard sway.

[0108] (7) Calculate U based on the bow heave formula. 艏 =y A1 -y A2 Calculate the bow heave and, based on the stern heave, calculate formula U. 艉 =y B1 -y B2 Calculate the stern heave, where U 艏 U represents the swaying of the bow during a wave. 艉 This indicates the stern of a ship swaying during a rocking motion, y A1 This represents the corrected ordinate of the bow at the current moment, y. A2 This represents the corrected ordinate of the bow at the previous moment, y. B1 This represents the corrected y-coordinate of the stern at the current moment. B2 This represents the corrected stern coordinate from the previous moment;

[0109] Specifically, the bow sways, that is, along Figure 1 The longitudinal axis XB translates forward and backward; U 艏 =y A1 -y A2 , among which, U 艏 The bow of a ship is swaying during a heave, y A1 This represents the corrected longitudinal coordinate of the bow at the current moment (collected by the BeiDou positioning terminal on the bow), y A2 This represents the corrected longitudinal coordinate of the bow at the previous moment. (Reference) Figure 8 It can be seen that when U>0, the ship travels along X B The ship moves forward along the axis; when U < 0, the ship moves along the X axis. B The ship moves backward in the axial direction; when U=0, the ship remains stationary in the longitudinal direction.

[0110] At the same time, U 艉 =y B1 -y B2 , among which, U 艉 This indicates the stern of a ship swaying during a rocking motion, y B1 This represents the corrected ordinate of the stern at the current moment (collected by the BeiDou positioning terminal at the stern), y B2 This represents the corrected stern coordinate at the previous moment. Stern heave is used to verify and correct bow heave.

[0111] (8) According to the heave calculation formula W 中 =z o1 -z o2 Calculate the heave, where W 中 Indicates drooping, z o1 This represents the corrected vertical coordinate of the center point at the current moment, z. o2 Represents the corrected vertical coordinates of the center point at the previous moment;

[0112] Specifically, drooping, that is, along Figure 1 Z-axis in the vertical direction B Up and down translation; W 中 =z o1 -z o2 Among them, W 中 Indicates drooping, z o1 This represents the corrected vertical coordinate of the center point at the current moment, z. o2 This represents the corrected vertical coordinates of the center point at the previous moment. (Reference) Figure 9 It can be seen that when W > 0, the ship travels along Z. B The ship moves upward along the Z axis; when W < 0, the ship moves along the Z axis. B The ship moves downwards along the axis; when W=0, the ship remains vertically stationary.

[0113] (9) Calculation formula based on roll Calculate the roll, where θ represents the roll angle, and z C This represents the corrected vertical coordinate of the ship's port side midline at the current moment, z. o This represents the corrected vertical coordinate of the center point at the current moment, x. C The x-coordinate represents the corrected x-coordinate of the ship's port side midline at the current moment. O The x-coordinate of the center point at the current moment is the corrected coordinate.

[0114] Specifically, lateral swaying, that is, along Figure 1 Central vertical axis X B Rotation; Reference Figure 10 It can be seen that, Where θ represents the angle of roll, z C This represents the corrected vertical coordinate of the ship's port side midline at the current moment, z. o This represents the corrected vertical coordinate of the center point at the current moment, x. C The x-coordinate represents the corrected x-coordinate of the ship's port side midline at the current moment. O This represents the corrected x-coordinate of the center point at the current moment. (Reference) Figure 11 It can be seen that, viewed from the stern, when At that time, the ship rotates clockwise around the XB axis. At that time, the ship circled X B The shaft rotates counterclockwise.

[0115] (10) Calculation formula based on pitch Calculate the pitch, where ψ represents the pitch angle, z A This represents the corrected vertical coordinate of the bow at the current moment, z. o This represents the corrected vertical coordinate of the center point at the current moment, y A This represents the corrected ordinate of the bow at the current moment, y. O The corrected ordinate of the center point at the current moment;

[0116] Specifically, swaying, that is, along Figure 1 The central horizontal axis YB rotates; Where ψ represents the pitch angle, z A This represents the corrected vertical coordinate of the bow at the current moment, z. o This represents the corrected vertical coordinate of the center point at the current moment, y A This represents the corrected ordinate of the bow at the current moment, y. O This represents the corrected ordinate of the center point at the current moment. (Reference) Figure 12 It can be seen that, viewed from the port side of the ship, when At that time, the ship circled Y B When the shaft rotates clockwise, At that time, the ship circled Y B The shaft rotates counterclockwise.

[0117] (11) Calculate based on the bow roll formula Calculate bow roll, where, Indicates that x A This represents the corrected x-coordinate of the bow at the current moment. o The x-coordinate of the current corrected center point is represented by y. A This represents the corrected ordinate of the bow at the current moment, y. O This represents the corrected ordinate of the center point at the current moment.

[0118] Specifically, bow rocking, that is, along Figure 1 The vertical axis ZB rotates. in, The angle of bow roll is represented by x. A This represents the corrected x-coordinate of the bow at the current moment. o The x-coordinate of the current corrected center point is represented by y. A This represents the corrected ordinate of the bow at the current moment, y. O This represents the corrected ordinate of the center point at the current moment. (Reference) Figure 13 It can be seen that, from the top view of the ship, when At that time, the ship rotates clockwise around the ZB axis. At that time, the ship circled Z B The shaft rotates counterclockwise.

[0119] The calculation method for high-precision attitude determination and positioning of inland waterway vessels of the present invention can achieve high-precision attitude determination and positioning of inland waterway vessels by using data from Beidou communication terminals and Beidou ground-based augmentation stations.

[0120] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0121] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0122] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A system for high-precision attitude determination and positioning of inland waterway vessels, characterized in that, include: Beidou communication terminals, Beidou ground-based augmentation stations, monitoring and management systems, and water level gauges; The Beidou communication terminal includes multiple Beidou positioning terminals, which are fixedly installed at the target location of the inland waterway vessel and communicate with the monitoring and management system. The Beidou communication terminal is used to locate the current position of the inland waterway vessel and send the obtained three-dimensional spatial positioning data to the monitoring and management system. There are four Beidou positioning terminals, which are respectively installed at the bow, stern, midships of the port side, and midships of the starboard side. The BeiDou ground-based augmentation station is set up on the shore along the waterway to broadcast the integrated positioning error in real time, so that the monitoring and management system can obtain the integrated positioning error. The water level gauge is installed on the bank along the waterway and is connected to the monitoring and management system to detect the water level in the waterway in real time and send the water level to the monitoring and management system. The monitoring and management system is used to calculate the current position and attitude of the inland waterway vessel based on the three-dimensional spatial positioning data, the comprehensive positioning error and the waterway water level, so as to obtain the real-time target positioning data and target attitude data of the inland waterway vessel. The target positioning data includes: the center point coordinates, freeboard height and draft of the inland waterway vessel, and the target attitude data includes: sway, pitch, heave, roll, pitch and bow roll. The calculation process for the current position and current attitude includes: correcting the bow three-dimensional spatial coordinates, stern three-dimensional spatial coordinates, port side midships three-dimensional spatial coordinates, and starboard side midships three-dimensional spatial coordinates based on the comprehensive positioning error, to obtain the corrected bow three-dimensional spatial coordinates, corrected stern three-dimensional spatial coordinates, corrected port side midships three-dimensional spatial coordinates, and corrected starboard side midships three-dimensional spatial coordinates; and calculating the formula based on the center point coordinates. , , Calculate the coordinates of the center point of the inland waterway vessel, where, The x-coordinate represents the center point of the inland waterway vessel. The ordinate of the center point of the inland waterway vessel is represented. This represents the vertical coordinates of the center point of the inland waterway vessel. This represents the corrected x-coordinate of the bow. This represents the corrected x-coordinate of the stern. This represents the corrected longitudinal coordinate of the bow. This represents the corrected ordinate of the stern. This represents the vertical coordinates of the corrected bow. This represents the corrected vertical coordinates of the stern; the calculation formula is based on the freeboard height. Calculate the freeboard height, where, Indicates the freeboard height, This represents the vertical coordinates of the center point of the inland waterway vessel. This indicates the water level of the channel; calculated based on the ship's draft. Calculate the ship's draft, wherein, This indicates the draft of the vessel. Indicates the ship's height. This indicates the freeboard height; calculated according to the port roll formula. Calculate the left sway and then calculate the formula based on the right sway. Calculate the right sway, where, This refers to the left swing in the swing. This refers to the right sway in the sway pattern. This represents the corrected x-coordinate of the ship's port side midline at the current moment. This represents the corrected x-coordinate of the ship's port side midline at the previous moment. This represents the corrected x-coordinate of the starboard midships of the hull at the current moment. This represents the corrected x-coordinate of the starboard midships of the hull at the previous moment; calculated according to the bow heave formula. Calculate the bow heave and the formula for calculating the stern heave. Calculate the stern heave, among which, This indicates that the bow of the ship is heaving during the heaving. This indicates the stern heave during the heave. This represents the corrected ordinate of the bow at the current moment. This represents the corrected ordinate of the bow at the previous moment. This represents the corrected stern coordinate at the current moment. This represents the corrected stern coordinate at the previous moment; based on the heave calculation formula. Calculate the heave, where, This indicates the sag. This represents the corrected vertical coordinates of the center point at the current moment. This represents the corrected vertical coordinates of the center point at the previous moment; based on the roll calculation formula... Calculate the roll, wherein, Indicates the angle of the roll. This represents the corrected vertical coordinates of the ship's port side midline at the current moment. This represents the corrected vertical coordinates of the center point at the current moment. This represents the corrected x-coordinate of the ship's port side midline at the current moment. This represents the corrected x-coordinate of the center point at the current moment; calculated according to the pitch formula. Calculate the pitch, where, Indicates the pitch angle, This represents the corrected vertical coordinate of the bow at the current moment. This represents the corrected vertical coordinates of the center point at the current moment. This represents the corrected ordinate of the bow at the current moment. This represents the corrected ordinate of the center point at the current moment; calculated according to the yaw rate formula. Calculate the bow roll, where, Indicates the angle of the bow roll. This represents the corrected x-coordinate of the bow at the current moment. This represents the corrected x-coordinate of the center point at the current moment. This represents the corrected ordinate of the bow at the current moment. This represents the corrected ordinate of the center point at the current moment.

2. The system according to claim 1, characterized in that, Also includes: Navigation terminal; The navigation terminal is installed on the inland waterway vessel and is communicatively connected to the monitoring and management system. The navigation terminal is used to display navigation maps, real-time target positioning data, real-time target attitude data, navigation information, and navigation safety alarm information.

3. The system according to claim 1, characterized in that, Also includes: Doppler profiler; The Doppler profiler is installed on the shore along the waterway and is connected to the monitoring and management system. The Doppler profiler is used to measure the cross-sectional flow velocity and flow rate in real time, and provides hydrological monitoring and early warning information of the navigation area to the inland waterway vessels through the monitoring and management system.

4. The system according to claim 1, characterized in that, The Beidou communication terminal includes: multiple Beidou positioning terminals, a serial port server, and a communication module; Each Beidou positioning terminal is connected to the serial port server, and the serial port server is connected to the communication module. The Beidou positioning terminal is used to locate the current position of the inland waterway vessel and send the obtained three-dimensional spatial positioning data to the monitoring and management system via the serial port server and the communication module.

5. The system according to claim 4, characterized in that, The four BeiDou positioning terminals remained horizontal in the vertical direction; The BeiDou positioning terminal includes a receiver and a BeiDou antenna.

6. The system according to claim 1, characterized in that, The monitoring and management system includes: a server and a client; The server is used to set monitoring system parameters, receive device data, calculate ship attitude, calculate ship positioning, provide ship navigation services, judge alarms, and record monitoring data. The client is used to display waterway charts, real-time target positioning data of all monitored and managed inland waterway vessels, real-time target attitude data, and navigation safety alarm information.

7. The system according to claim 3, characterized in that, The monitoring and management system is also used to receive the cross-sectional flow velocity and flow rate measured by the Doppler profiler, and to determine the hydrological monitoring and early warning information of the navigation area based on the cross-sectional flow velocity and the flow rate.

8. The system according to claim 2, characterized in that, The navigation terminal includes: a terminal device with navigation software.

9. The system according to claim 5, characterized in that, The three-dimensional spatial positioning data includes: bow three-dimensional spatial coordinates, stern three-dimensional spatial coordinates, port midships three-dimensional spatial coordinates, and starboard midships three-dimensional spatial coordinates.

10. A calculation method for high-precision attitude determination and positioning of inland waterway vessels, characterized in that, The method, applied to the monitoring and management system according to any one of claims 1 to 9, comprises: The system obtains the three-dimensional spatial coordinates of the bow, stern, port midships, and starboard midships of the inland waterway vessel by locating the current position of the vessel using the BeiDou communication terminal. It also obtains the comprehensive positioning error broadcast by the BeiDou ground-based augmentation station and the water level of the waterway detected by the water level gauge. Based on the comprehensive positioning error, the bow three-dimensional spatial coordinates, stern three-dimensional spatial coordinates, port side mid-section three-dimensional spatial coordinates, and starboard side mid-section three-dimensional spatial coordinates are corrected to obtain the corrected bow three-dimensional spatial coordinates, corrected stern three-dimensional spatial coordinates, corrected port side mid-section three-dimensional spatial coordinates, and corrected starboard side mid-section three-dimensional spatial coordinates. Calculation formula based on center point coordinates , , Calculate the coordinates of the center point of the inland waterway vessel, where, The x-coordinate represents the center point of the inland waterway vessel. The ordinate of the center point of the inland waterway vessel is represented. This represents the vertical coordinates of the center point of the inland waterway vessel. This represents the corrected x-coordinate of the bow. This represents the corrected x-coordinate of the stern. This represents the corrected longitudinal coordinate of the bow. This represents the corrected ordinate of the stern. This represents the vertical coordinates of the corrected bow. This indicates the corrected vertical coordinates of the stern; Calculation formula based on freeboard height Calculate the freeboard height, where, Indicates the freeboard height, This represents the vertical coordinates of the center point of the inland waterway vessel. This indicates the water level of the waterway; According to the formula for calculating ship draft Calculate the ship's draft, wherein, This indicates the draft of the vessel. Indicates the ship's height. Indicates the freeboard height; According to the calculation formula for left transverse sway Calculate the left sway and then calculate the formula based on the right sway. Calculate the right sway, where, This refers to the left swing in the swing. This refers to the right sway in the sway pattern. This represents the corrected x-coordinate of the ship's port side midline at the current moment. This represents the corrected x-coordinate of the ship's port side midline at the previous moment. This represents the corrected x-coordinate of the starboard midships of the hull at the current moment. This represents the corrected x-coordinate of the starboard midships of the hull at the previous moment; Based on the formula for calculating bow heave Calculate the bow heave and the formula for calculating the stern heave. Calculate the stern heave, among which, This indicates that the bow of the ship is heaving during the heaving. This indicates the stern heave during the heave. This represents the corrected ordinate of the bow at the current moment. This represents the corrected ordinate of the bow at the previous moment. This represents the corrected stern coordinate at the current moment. This represents the corrected stern coordinate from the previous moment; According to the heave calculation formula Calculate the heave, where, This indicates the sag. This represents the corrected vertical coordinates of the center point at the current moment. Represents the corrected vertical coordinates of the center point at the previous moment; According to the calculation formula for roll Calculate the roll, wherein, Indicates the angle of the roll. This represents the corrected vertical coordinates of the ship's port side midline at the current moment. This represents the corrected vertical coordinates of the center point at the current moment. This represents the corrected x-coordinate of the ship's port side midline at the current moment. The x-coordinate of the center point at the current moment is the corrected coordinate. According to the pitch calculation formula Calculate the pitch, where, Indicates the pitch angle, This represents the corrected vertical coordinate of the bow at the current moment. This represents the corrected vertical coordinates of the center point at the current moment. This represents the corrected ordinate of the bow at the current moment. The corrected ordinate of the center point at the current moment; According to the formula for calculating bow roll Calculate the bow roll, where, Indicates the angle of the bow roll. This represents the corrected x-coordinate of the bow at the current moment. This represents the corrected x-coordinate of the center point at the current moment. This represents the corrected ordinate of the bow at the current moment. This represents the corrected ordinate of the center point at the current moment.

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