A marine navigation aid system and method based on a rotary sail

Abstract

The present invention relates to the field of rotary sail navigation aid technology, and in particular to a marine navigation aid system and method based on a rotary sail. The system comprises: a positioning navigation module, an information detection module, a detection and analysis module, a navigation aid adjustment module and a navigation aid module. The positioning navigation module determines a destination and an expected course of a ship. The information detection module determines actual navigation information and environmental information of the ship. The detection and analysis module determines the navigation accuracy of the ship according to the expected navigation information and the actual navigation information, and determines the influence of the environment on the ship according to the environmental information. The navigation aid adjustment module determines a navigation aid mode to be used according to the navigation accuracy, and determines the working state of the rotary sail. The navigation aid module adjusts the working state and the rotation speed of the rotary sail. The present invention considers the influence of wind direction factors and water flow factors on the form of the ship, uses corresponding navigation aid modes, improves the application range of the system, and reduces the navigation pressure of the ship.

Description

Technical Field

[0001] The present invention relates to the technical field of rotor sail navigation aids, and in particular to a rotor sail-based ship navigation aid system and method. Background Art

[0002] Rotor sail technology is a technology that uses a rotating cylindrical sail to propel a ship forward. Compared with traditional sailboats, it has higher efficiency and better maneuverability, so it has broad application prospects in the field of navigation; compared with traditional fuel propulsion systems, rotor sail technology can also reduce dependence on fossil fuels, reduce carbon emissions, and achieve more environmentally friendly shipping.

[0003] Chinese Patent Publication No.: CN115027652A discloses a sail propulsion device and a ship based on a rotor sail, which are used for ships. The sail propulsion device based on a rotor sail includes: a support assembly arranged on the ship; a lifting and rotating assembly arranged on the top of the support assembly; a rotor sail arranged on the lifting and rotating assembly, and the rotor sail is driven by the lifting and rotating assembly to achieve lifting and rotation. The sail propulsion device based on the rotor sail drives the rotor sail to lift and rotate by lifting and rotating the lifting rod, thereby achieving wind-assisted navigation when the wind direction and wind force are suitable and the conditions for wind-assisted navigation are met; when the wind direction and wind force are not suitable and the conditions for wind-assisted navigation are not met, the rotor sail can be automatically retracted into the interior of the hull; it can be seen that the sail propulsion device and the ship based on the rotor sail have the following problems: when the surrounding environment has a reverse impact on the navigation of the ship, how to use the rotor sail to reduce the negative impact of the environment on navigation is not considered. Summary of the invention

[0004] To this end, the present invention provides a marine navigation aid system and method based on a rotor sail, so as to overcome the problem in the prior art that when the surrounding environment has a reverse impact on the navigation of the ship, how to use the rotor sail to reduce the negative impact of the environment on the navigation is not considered.

[0005] To achieve the above objectives, on the one hand, the present invention provides a marine navigation aid system based on a rotary sail, comprising:

[0006] A positioning and navigation module is used to determine the vessel's destination and current expected course, and to determine the vessel's expected navigation information;

[0007] An information detection module, which is connected to the positioning and navigation module, and is used to periodically detect actual navigation information of the vessel in the current navigation state, and detect environmental information of the vessel in the current navigation state;

[0008] a detection and analysis module, which is connected to the positioning and navigation module and the information detection module respectively, and is used to determine the navigation accuracy of the ship according to the expected navigation information and the actual navigation information, and to determine the environmental impact of the ship's navigation environment on the ship according to the environmental information;

[0009] A navigation aid adjustment module, which is connected to the detection and analysis module, is used to determine the navigation aid mode used for the ship's navigation according to the navigation accuracy, and to determine the working state of the ship's rotor sail under each navigation aid mode;

[0010] The navigation aid module is connected to the navigation aid adjustment module and the information detection module respectively, and is used to adjust the working state of the rotor sail according to the navigation aid mode determined by the navigation aid adjustment module, and determine the rotation speed of the rotor sail according to the actual navigation information and the environmental information.

[0011] Furthermore, the information detection module includes:

[0012] A ship detection unit, which is used to detect the actual navigation information of the ship in the current navigation state, the actual navigation information including the actual heading and the actual navigation speed;

[0013] The environment determination unit is connected to the ship detection unit and is used to detect the environment information of the ship in the current navigation state, wherein the environment information includes wind direction information and water flow information.

[0014] Further, the detection and analysis module determines the navigation accuracy of the vessel in the current navigation state according to the expected navigation information and the actual navigation information;

[0015] The navigation accuracy is determined by the following formula:

[0016]

[0017] Among them, σ is the navigation accuracy, v1 is the actual navigation speed, v0 is the expected navigation speed, θ1 is the angle between the actual heading and the navigation destination, and θ0 is the angle between the expected heading and the navigation destination.

[0018] Furthermore, the detection and analysis module determines the environmental impact degree according to the environmental information;

[0019] The environmental influence degree includes the wind direction influence degree and the water flow influence degree. The detection and analysis module determines the wind direction influence degree according to the wind direction information and the vessel's own parameters, and determines the water flow influence degree according to the water flow information and the expected navigation information.

[0020] Further, the navigation aid adjustment module determines the navigation aid mode used by the navigation aid module according to the navigation accuracy;

[0021] If the navigation accuracy is not within the navigation allowable range, the navigation aid adjustment module determines the navigation aid mode to be a corrective navigation mode;

[0022] If the navigation accuracy is within the navigation allowable range, the navigation aid adjustment module determines that the navigation aid mode is a high-efficiency navigation mode;

[0023] The corrective sailing mode adjusts the rotation mode of the rotor sail, and the efficient sailing mode adjusts the rotation speed of the rotor sail.

[0024] Further, the navigation aid adjustment module determines the working mode of the navigation aid module in the correcting navigation mode according to the wind direction influence degree and the water flow influence degree;

[0025] If both the wind direction and the water flow have negative effects, the navigation aid adjustment module rotates the rotor sail against the wind to mitigate the negative effects of the wind direction on the navigation of the ship;

[0026] If one of the wind direction influence and the water flow influence is a negative influence, the navigation adjustment module fixes the rotor sail.

[0027] Further, the navigation aid adjustment module determines the working mode of the navigation aid module in the efficient navigation mode according to the wind direction influence degree and the water flow influence degree;

[0028] If the actual sailing speed is within the allowable range, the navigation adjustment module does not control the rotation of the rotor sail;

[0029] If the actual sailing speed exceeds the maximum permissible speed, the navigation adjustment module reduces the rotation speed of the rotor sail.

[0030] Furthermore, the rotation speed of the rotor sail when rotating against the wind direction is determined according to the wind direction information and the water flow information.

[0031] In another aspect, the present invention further provides a method comprising:

[0032] Determine the vessel's destination and current expected course, and determine the vessel's expected navigation information;

[0033] Periodically detecting actual navigation information of the vessel in the current navigation state, and detecting environmental information of the vessel in the current navigation state;

[0034] Determining the navigation accuracy, wind direction influence, and water flow influence of the vessel according to the detection results;

[0035] Determining a navigation aid mode used by the navigation aid module according to the navigation accuracy;

[0036] Determine the working mode of the rotor sail according to the determined navigation aid mode;

[0037] Among them, the navigation aid mode includes a corrective navigation mode and a high-efficiency navigation mode. The corrective navigation mode adjusts the rotation mode of the rotor sail, and the high-efficiency navigation mode adjusts the rotation speed of the rotor sail.

[0038] Furthermore, when the navigation aid mode is a corrective navigation mode, the reduction amount of the detection period is determined according to the navigation accuracy to increase the detection frequency.

[0039] Compared with the prior art, the beneficial effects of the present invention are that the navigation module determines the destination and expected course of the ship, the information detection module determines the actual navigation information and environmental information of the ship, the detection and analysis module determines the navigation accuracy of the ship according to the expected navigation information and the actual navigation information, determines the impact of the environment on the ship according to the environmental information, the navigation adjustment module determines the navigation aid method to be used according to the navigation accuracy, and determines the working state of the rotor sail, and the navigation aid module adjusts the working state and rotation speed of the rotor sail; the present invention considers the influence of wind direction factors and water flow factors on the form of the ship, uses corresponding navigation aid methods, improves the applicability of the system, and reduces the navigation pressure of the ship.

[0040] Furthermore, in the marine navigation aid system based on the rotor sail of the present invention, by detecting and analyzing environmental information such as wind direction and water current, the degree of influence of the environment on the navigation of the ship can be determined more accurately, thereby improving the accuracy of the prediction; determining the degree of environmental influence based on the ship's own parameters and expected navigation information can better fit the situation of the specific ship and provide a personalized environmental impact assessment; and by accurately assessing the influence of wind direction and water current on the navigation of the ship, it helps to more accurately improve the safety of navigation.

[0041] Furthermore, in the ship navigation aid system based on the rotor sail of the present invention, the navigation aid mode is adjusted according to the ratio of the actual sailing speed to the expected sailing speed to cope with different environmental influences. When the navigation accuracy is not within the allowable range, the system can adjust the navigation route of the ship by correcting the navigation mode to ensure the safety of the ship and the accurate arrival at the destination. When the navigation accuracy is within the allowable range, the system can optimize the navigation route of the ship through an efficient navigation mode to improve the efficiency of the ship and save energy.

[0042] Furthermore, in the ship navigation aid system based on the rotor sail of the present invention, the system can flexibly adjust the working mode of the rotor sail according to actual conditions to adapt to different environmental influences and navigation requirements, and provide better navigation protection for the ship; by adjusting the working mode of the rotor sail according to environmental influences, the system helps to reduce the adverse effects of the environment on the navigation of the ship and improve the safety and efficiency of navigation.

[0043] Furthermore, in the marine navigation aid system based on the rotor sail of the present invention, when the actual sailing speed is too fast, the system helps to slow down the sailing speed of the ship by reducing the rotation speed of the rotor sail, thereby avoiding control difficulties and safety hazards caused by excessive sailing speed, thereby improving the safety of navigation while ensuring the sailing speed of the ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic structural diagram of a marine navigation aid system based on a rotary sail according to an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of the structure of an information detection module of a marine navigation aid system based on a rotary sail according to an embodiment of the present invention;

[0046] Figure 3 This is a logic diagram for determining a navigation aid mode of a marine navigation aid system based on a rotary sail according to an embodiment of the present invention;

[0047] Figure 4 The present invention is a flowchart of a method for applying an embodiment of the present invention to a marine navigation aid system based on a rotor sail. DETAILED DESCRIPTION

[0048] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0049] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0050] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0051] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] See also Figure 1 As shown, it is a schematic structural diagram of a ship navigation aid system based on a rotary sail according to an embodiment of the present invention; the present invention provides a ship navigation aid system based on a rotary sail, comprising:

[0053] A positioning and navigation module is used to determine the vessel's destination and current expected course, and to determine the vessel's expected navigation information;

[0054] An information detection module, which is connected to the positioning and navigation module, and is used to periodically detect actual navigation information of the vessel in the current navigation state, and detect environmental information of the vessel in the current navigation state;

[0055] a detection and analysis module, which is connected to the positioning and navigation module and the information detection module respectively, and is used to determine the navigation accuracy of the ship according to the expected navigation information and the actual navigation information, and to determine the environmental impact of the ship's navigation environment on the ship according to the environmental information;

[0056] A navigation aid adjustment module, which is connected to the detection and analysis module, is used to determine the navigation aid mode used for the ship's navigation according to the navigation accuracy, and to determine the working state of the ship's rotor sail under each navigation aid mode;

[0057] The navigation aid module is connected to the navigation aid adjustment module and the information detection module respectively, and is used to adjust the working state of the rotor sail according to the navigation aid mode determined by the navigation aid adjustment module, and determine the rotation speed of the rotor sail according to the actual navigation information and the environmental information.

[0058] In implementation, the expected navigation information includes the expected heading and expected navigation speed at each stage; the detection method of the information detection module is divided into periodic detection and navigation state switching detection. The navigation state switching detection is performed when the navigation state of the ship switches, such as when the driving force of the ship increases or the heading changes.

[0059] The navigation module determines the destination and expected course of the ship, the information detection module determines the actual navigation information and environmental information of the ship, the detection and analysis module determines the navigation accuracy of the ship according to the expected navigation information and the actual navigation information, and determines the impact of the environment on the ship according to the environmental information, the navigation adjustment module determines the navigation aid method to be used according to the navigation accuracy, and determines the working state of the rotor sail, and the navigation aid module adjusts the working state and rotation speed of the rotor sail; the present invention considers the influence of wind direction factors and water flow factors on the form of the ship, uses corresponding navigation aid methods, improves the applicability of the system, and reduces the navigation pressure of the ship.

[0060] See also Figure 2 As shown, it is a schematic diagram of the structure of an information detection module of a marine navigation aid system based on a rotary sail according to an embodiment of the present invention, and the information detection module includes:

[0061] A ship detection unit, which is used to detect the actual navigation information of the ship in the current navigation state, the actual navigation information including the actual heading and the actual navigation speed;

[0062] The environment determination unit is connected to the ship detection unit and is used to detect the environment information of the ship in the current navigation state, wherein the environment information includes wind direction information and water flow information.

[0063] In practice, the actual navigation and actual navigation speed of the vessel can be determined by any existing positioning technology on the vessel, and no specific limitation is made here;

[0064] The wind direction information and water flow information are also detected using any one of the existing technologies;

[0065] Wind direction information includes wind direction and wind force level; water flow information includes flow direction and water flow speed.

[0066] Specifically, the detection and analysis module determines the navigation accuracy of the vessel in the current navigation state according to the expected navigation information and the actual navigation information;

[0067] The navigation accuracy is determined by the following formula:

[0068]

[0069] Among them, σ is the navigation accuracy, v1 is the actual navigation speed, v0 is the expected navigation speed, θ1 is the angle between the actual heading and the navigation destination, and θ0 is the angle between the expected heading and the navigation destination.

[0070] In implementation, the origin of the angle between the actual heading and the navigation destination and the angle between the expected heading and the navigation destination are both the current position of the ship.

[0071] During the navigation process of the ship, the value of the navigation accuracy is greater than 0. The closer the navigation accuracy is to 0 or greater than 1, the greater the difference between the actual navigation state of the current ship and the expected heading and expected navigation speed of the stage.

[0072] Specifically, the detection and analysis module determines the environmental impact degree according to the environmental information;

[0073] The environmental influence degree includes the wind direction influence degree and the water flow influence degree. The detection and analysis module determines the wind direction influence degree according to the wind direction information and the vessel's own parameters, and determines the water flow influence degree according to the water flow information and the expected navigation information.

[0074] In practice, the wind direction influence f1 = cosψ1 × α;

[0075] Water flow influence f2 = cosψ2;

[0076] Among them, ψ1 is the angle between the wind direction and the expected heading of the stage, ψ2 is the angle between the flow direction and the expected heading of the stage, and α is the coefficient of the relationship between wind force and ship volume; wind force is 0 to 2 (no wind to light wind): wind force in this range has little effect on ships of all tonnages. Most ships can sail normally under this condition, while large ships may need some auxiliary propulsion. At this time, the value of α for any ship is 0;

[0077] Level 3-4 (light to moderate wind): Small ships may be affected to some extent within this range, but most ships can still sail normally. At this time, the α value of small ships is 0.5, and the α values ​​of medium and large ships are both 0;

[0078] Level 5-6 (moderate to strong wind): Winds in this range may have some impact on small and medium-sized ships, especially in open waters. Large ships need more powerful power to overcome wind resistance, but can still operate normally. At this time, the α value for small ships is 0.6, the α value for medium ships is 0.5, and the α value for large ships is 0.3;

[0079] Level 7-9 (strong to heavy winds): Winds in this range may have a significant impact on small and medium-sized ships, which need to be carefully maneuvered. Large ships may need to take further precautions, such as adjusting their course and reducing their speed, to ensure safe navigation. At this time, the α value for small ships is 0.7-1, the α value for medium-sized ships is 0.6-0.9, and the α value for large ships is 0.4-0.7;

[0080] Level 10 to 12 (storm to hurricane): The wind force in this range is extreme and will have a great impact on all ships. Most ships need to find a safe haven and avoid sailing under such conditions. The environmental impact is not calculated at this time.

[0081] It can be understood that, the closer the wind direction influence degree and the water flow influence degree are to 1, the more favorable the current wind direction information and water flow information are for the ship in the current navigation state to continue sailing, and the closer the wind direction influence degree and the water flow influence degree are to -1, the less favorable the current wind direction information and water flow information are for the ship in the current navigation state to continue sailing.

[0082] In the marine navigation aid system based on the rotor sail of the present invention, by detecting and analyzing environmental information such as wind direction and water current, the degree of influence of the environment on the navigation of the ship can be determined more accurately, thereby improving the accuracy of the prediction; by determining the degree of environmental influence based on the ship's own parameters and expected navigation information, it can be more in line with the situation of the specific ship and provide a personalized environmental impact assessment; by accurately assessing the influence of wind direction and water current on the navigation of the ship, it helps to more accurately improve the safety of navigation.

[0083] See also Figure 3 As shown, the navigation aid mode judgment logic diagram of the marine navigation aid system based on the rotary sail of the embodiment of the present invention, the navigation aid adjustment module determines the navigation aid mode used by the navigation aid module according to the navigation accuracy;

[0084] If the navigation accuracy is not within the navigation allowable range, the navigation aid adjustment module determines the navigation aid mode to be a corrective navigation mode;

[0085] If the navigation accuracy is within the navigation allowable range, the navigation aid adjustment module determines that the navigation aid mode is a high-efficiency navigation mode;

[0086] The corrective sailing mode adjusts the rotation mode of the rotor sail, and the efficient sailing mode adjusts the rotation speed of the rotor sail.

[0087] In implementation, the allowable range of navigation is that the navigation accuracy is greater than or equal to 0.7 and less than or equal to 1.3.

[0088] It can be understood that when the navigation accuracy is less than 0.7, it means that the ratio of the actual navigation speed to the expected navigation speed is less than 1. At this time, the water flow has a greater impact on the navigation speed of the ship. Similarly, when the navigation accuracy is greater than 1.3, it means that the wind direction has a greater impact on the navigation of the ship. At this time, the rotor sail needs to work to reduce the impact of the environment on the navigation of the ship.

[0089] When the navigation accuracy is within the allowable range, it means that the ratio of the navigation speed to the expected navigation speed is close to 1, indicating that the actual navigation speed is basically consistent with the expected navigation speed. At this time, the wind direction has little impact on the navigation of the ship. At this time, the rotor sail is needed to work to expand the favorable impact of the environment on the navigation of the ship.

[0090] In the marine navigation aid system based on the rotor sail of the present invention, the navigation aid mode is adjusted according to the ratio of the actual navigation speed to the expected navigation speed to cope with different environmental influences. When the navigation accuracy is not within the allowable range, the system can adjust the navigation route of the ship by correcting the navigation mode to ensure the safety of the ship and the accurate arrival at the destination. When the navigation accuracy is within the allowable range, the system can optimize the navigation route of the ship through an efficient navigation mode to improve the efficiency of the ship and save energy.

[0091] Specifically, the navigation aid adjustment module determines the working mode of the navigation aid module in the correcting navigation mode according to the wind direction influence degree and the water flow influence degree;

[0092] If both the wind direction and the water flow have negative effects, the navigation aid adjustment module rotates the rotor sail against the wind to mitigate the negative effects of the wind direction on the navigation of the ship;

[0093] If one of the wind direction influence and the water flow influence is a negative influence, the navigation adjustment module fixes the rotor sail.

[0094] In practice, when both the wind direction and the water flow have negative effects, after the rotor sail rotates against the wind, the side that originally provided propulsion for the ship becomes reverse propulsion, and the side that originally provided reverse propulsion becomes forward propulsion. The reversal of the rotor sail can increase the lateral thrust of the ship, reduce the influence of wind direction on the navigation of the ship, and enable the ship to better cope with the negative effects of the water flow;

[0095] When one of the influence of wind direction and water flow is negative, if the influence of wind direction is negative and the influence of water flow is positive, stop the rotation of the rotor sail to avoid the rotor sail rotating downwind to further expand the negative impact. If the influence of wind direction is negative and the influence of water flow is negative, stop the rotation of the rotor sail to avoid the ship moving too fast downwind due to the rotation of the rotor sail, which makes it more difficult for the ship to eliminate the negative impact of the water flow, especially the negative impact in direction. If the angle between the flow direction and the expected heading is greater than 45 degrees and less than 90 degrees, the rotor sail can be allowed to rotate, but its rotation speed is half of the free rotation speed.

[0096] In the marine navigation aid system based on the rotor sail of the present invention, the system can flexibly adjust the working mode of the rotor sail according to actual conditions to adapt to different environmental influences and navigation requirements and provide better navigation guarantees for the ship; by adjusting the working mode of the rotor sail according to environmental influences, the system helps to reduce the adverse effects of the environment on the navigation of the ship and improve the safety and efficiency of navigation.

[0097] Specifically, the navigation aid adjustment module determines the working mode of the navigation aid module in the efficient navigation mode according to the wind direction influence degree and the water flow influence degree;

[0098] If the actual sailing speed is within the allowable range, the navigation adjustment module does not control the rotation of the rotor sail;

[0099] If the actual sailing speed exceeds the maximum permissible speed, the navigation adjustment module reduces the rotation speed of the rotor sail.

[0100] In practice, the maximum permissible speed of actual navigation shall be determined according to the actual conditions of the current waters and the performance of the vessel itself;

[0101] When the rotation speed of the rotor sail is reduced, the reduction amount of the rotation speed is reduced to the difference between the actual sailing speed and the maximum allowed speed multiplied by the current rotation speed of the rotor sail.

[0102] It is understandable that when the actual sailing speed is too fast, the sailing speed of the ship needs to be adaptively reduced to avoid the ship sailing at too fast a speed to be difficult to control and to cause danger during sailing. Therefore, it is necessary to reduce the accelerating effect of the rotor sail on the ship's sailing.

[0103] In the marine navigation aid system based on the rotor sail of the present invention, when the actual sailing speed is too fast, the system helps to slow down the sailing speed of the ship by reducing the rotation speed of the rotor sail, thereby avoiding control difficulties and safety hazards caused by excessive sailing speed, thereby improving the safety of navigation while ensuring the sailing speed of the ship.

[0104] Specifically, the rotation speed of the rotor sail when rotating against the wind is determined according to the wind direction information and the water flow information.

[0105] In implementation, the rotation speed v2 = (v1×f1+v0×f2)×0.1, wherein the rotation speed v2 is the surface linear velocity of the rotor sail, v1 is the wind speed, and v0 is the flow velocity.

[0106] See also Figure 3 As shown, a flowchart of a method for applying an embodiment of the present invention to a marine navigation aid system based on a rotary sail is provided. The present invention also provides a method, comprising:

[0107] Determine the vessel's destination and current expected course, and determine the vessel's expected navigation information;

[0108] Periodically detecting actual navigation information of the vessel in the current navigation state, and detecting environmental information of the vessel in the current navigation state;

[0109] Determining the navigation accuracy, wind direction influence, and water flow influence of the vessel according to the detection results;

[0110] Determining a navigation aid mode used by the navigation aid module according to the navigation accuracy;

[0111] Determine the working mode of the rotor sail according to the determined navigation aid mode;

[0112] Among them, the navigation aid mode includes a corrective navigation mode and a high-efficiency navigation mode. The corrective navigation mode adjusts the rotation mode of the rotor sail, and the high-efficiency navigation mode adjusts the rotation speed of the rotor sail.

[0113] Specifically, when the navigation aid mode is a corrective navigation mode, the reduction amount of the detection period is determined according to the navigation accuracy to increase the detection frequency.

[0114] In implementation, the reduction in the detection period is the absolute value of the difference between the navigation accuracy and the upper or lower limit of the navigation allowable range multiplied by the current detection period. If the navigation accuracy exceeds the navigation allowable range, the difference is calculated using the upper limit; if the navigation accuracy is lower than the navigation allowable range, the difference is calculated using the lower limit.

[0115] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0116] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A marine navigation aid system based on a rotary sail, characterized in that: include: A positioning and navigation module is used to determine the vessel's destination and current expected course, and to determine the vessel's expected navigation information; An information detection module, which is connected to the positioning and navigation module, and is used to periodically detect the actual navigation information of the vessel in the current navigation state, and detect the environmental information of the vessel in the current navigation state, wherein the actual navigation information includes the actual heading and the actual navigation speed; a detection and analysis module, which is connected to the positioning and navigation module and the information detection module respectively, and is used to determine the navigation accuracy of the ship according to the expected navigation information and the actual navigation information, and to determine the environmental impact of the ship's navigation environment on the ship according to the environmental information; Wherein, the environmental impact includes wind direction impact and water flow impact; A navigation aid adjustment module, which is connected to the detection and analysis module, is used to determine the navigation aid mode used for the ship's navigation according to the navigation accuracy, and to determine the working state of the ship's rotor sail under each navigation aid mode; a navigation aid module, which is connected to the navigation aid adjustment module and the information detection module respectively, and is used to adjust the working state of the rotor sail according to the navigation aid mode determined by the navigation aid adjustment module, and determine the rotation speed of the rotor sail according to the actual navigation information and the environmental information; Wherein, if the navigation accuracy is not within the navigation allowable range, the navigation aid adjustment module determines the navigation aid mode to be a corrective navigation mode, and the corrective navigation mode adjusts the rotation mode of the rotor sail; The navigation aid adjustment module determines the working mode of the navigation aid module in the correcting navigation mode according to the wind direction influence degree and the water flow influence degree; If both the wind direction and the water flow have negative effects, the navigation aid adjustment module rotates the rotor sail against the wind to mitigate the negative effects of the wind direction on the navigation of the ship; If one of the wind direction influence and the water flow influence is a negative influence, the navigation adjustment module fixes the rotor sail; The navigation accuracy is determined according to the following formula: ， Among them, σ is the navigation accuracy, v1 is the actual navigation speed, v0 is the expected navigation speed, θ1 is the angle between the actual heading and the navigation destination, and θ0 is the angle between the expected heading and the navigation destination.

2. The marine navigation aid system based on the rotary sail according to claim 1, characterized in that: The information detection module comprises: A ship detection unit, used for detecting the actual navigation information of the ship in the current navigation state; The environment determination unit is connected to the ship detection unit and is used to detect the environment information of the ship in the current navigation state, wherein the environment information includes wind direction information and water flow information.

3. The marine navigation aid system based on the rotary sail according to claim 2, characterized in that: The detection and analysis module determines the environmental impact degree according to the environmental information; The detection and analysis module determines the influence of wind direction according to the wind direction information and the vessel's own parameters, and determines the influence of water flow according to the water flow information and the expected navigation information.

4. The marine navigation aid system based on the rotary sail according to claim 3, characterized in that: The navigation aid adjustment module determines the navigation aid mode used by the navigation aid module according to the navigation accuracy; If the navigation accuracy is within the navigation allowable range, the navigation aid adjustment module determines that the navigation aid mode is a high-efficiency navigation mode; The efficient sailing method adjusts the rotation speed of the rotor sail.

5. The marine navigation aid system based on the rotor sail according to claim 4, characterized in that: The navigation aid adjustment module determines the working mode of the navigation aid module in the efficient navigation mode according to the wind direction influence degree and the water flow influence degree; If the actual sailing speed is within the allowable range, the navigation adjustment module does not control the rotation of the rotor sail; If the actual sailing speed exceeds the maximum permissible speed, the navigation adjustment module reduces the rotation speed of the rotor sail.

6. The marine navigation aid system based on the rotor sail according to claim 5, characterized in that: The rotation speed of the rotor sail when rotating against the wind is determined according to the wind direction information and the water flow information.

7. A method for applying the marine navigation aid system based on a rotary sail according to any one of claims 1 to 6, characterized in that: include: Determine the vessel's destination and current expected course, and determine the vessel's expected navigation information; Periodically detecting actual navigation information of the vessel in the current navigation state, and detecting environmental information of the vessel in the current navigation state; Determining the navigation accuracy, wind direction influence, and water flow influence of the vessel according to the detection results; Determining a navigation aid mode used by the navigation aid module according to the navigation accuracy; Determine the working mode of the rotor sail according to the determined navigation aid mode; The navigation aid mode includes a corrective navigation mode and an efficient navigation mode. The corrective navigation mode adjusts the rotation mode of the rotor sail, and the efficient navigation mode adjusts the rotation speed of the rotor sail. The working mode of the correcting navigation mode is determined according to the wind direction influence degree and the water flow influence degree, wherein if both the wind direction influence and the water flow influence are negative, the rotor sail is rotated against the wind direction to reduce the negative impact of the wind direction factor on the navigation of the ship; if one of the wind direction influence and the water flow influence is negative, the rotor sail is fixed; The working mode of the efficient navigation mode is determined according to the influence of the wind direction and the water flow; if the actual navigation speed is within the allowable range, the rotation of the rotor sail is not controlled; if the actual navigation speed exceeds the maximum allowable speed, the rotation speed of the rotor sail is reduced.

8. The method according to claim 7, characterized in that When the navigation aid mode is a corrective navigation mode, the reduction amount of the detection period is determined according to the navigation accuracy to increase the detection frequency.

Images