Ship maneuvering decision-making auxiliary method and device

Abstract

The present invention discloses a ship maneuvering decision-making assistance method and device to improve the initiative and accuracy of maneuvering decision-making. The method comprises: determining the type of maneuvering target for auxiliary decision-making; determining maneuvering parameters according to the type of maneuvering target; determining the value range and value step of the maneuvering parameter, and determining the value of the maneuvering parameter according to the value range and the value step; determining the target value of the maneuvering target according to the value of the maneuvering parameter; and assisting maneuvering decision-making according to the value of the maneuvering parameter and the target value of the maneuvering target.

Description

Technical Field

[0001] The present invention belongs to the field of marine navigation technology, and in particular, relates to ship maneuvering, and more particularly, to a ship maneuvering decision-making auxiliary method and device. Background Art

[0002] At present, all methods for assisting ship maneuvering decision-making are based on abstracting decision-making requirements into geometric problems, solving them using graphical and analytical methods, and using the solution results to assist in maneuvering decision-making. The graphical method is a manual method, which is more intuitive than the analytical method, and can flexibly convert the type of drawing and calculation according to the commander's requirements and measure the specified parameters, but its accuracy and speed are limited. The accuracy and speed of the analytical method are much better than manual work, but it is mostly based on dialog boxes for interaction, and the intuitiveness and interactive experience are average. The Chinese patent application with publication number CN110749321A discloses an electronic assistance method for navigation drawing and calculation, which combines the advantages of graphical and analytical methods to achieve flexible customization of the solution model, intuitive setting of model parameters and rapid calculation of maneuvering parameters, facilitating the assistance of ship maneuvering decision-making under specific maneuvering targets.

[0003] However, the various existing ship maneuvering decision-making assistance methods mentioned above all pre-set a clear maneuvering target and obtain the maneuvering parameters to be adopted according to the algorithm, that is, "reversely" obtain the maneuvering parameters according to the maneuvering target. This method of reversely obtaining maneuvering parameters may not be able to obtain accurate graphical results or analytical results when the maneuvering model is complex, and can only approximate the results. Maneuvering decision assistance is based on approximate and inaccurate maneuvering parameters, which affects the accuracy of the decision. On the other hand, the maneuvering parameters obtained according to the determined maneuvering target are unique, and the ship commander cannot fully grasp the different maneuvering targets that can be generated by different maneuvering parameter results, which is not conducive to the commander's ship maneuvering decision. Summary of the invention

[0004] The purpose of the present invention is to provide a method and device for assisting ship maneuvering decision-making, so as to improve the initiative and accuracy of maneuvering decision-making.

[0005] In order to achieve the above-mentioned object of the invention, the ship maneuvering decision-making auxiliary method provided by the present invention is implemented by the following technical scheme:

[0006] A ship maneuvering decision-making assistance method, comprising:

[0007] Determine the type of maneuvering target to aid decision making;

[0008] determining maneuvering parameters according to the type of the maneuvering target;

[0009] Determining a value range and a value step of the maneuvering parameter, and determining a value of the maneuvering parameter according to the value range and the value step;

[0010] Determining a target value of the maneuvering target according to the value of the maneuvering parameter;

[0011] Maneuvering decision is assisted according to the value of the maneuvering parameter and the target value of the maneuvering target.

[0012] In some embodiments of the present application, the type of the maneuvering target is determined by the following method:

[0013] Maneuvering targets that cannot be achieved or can be achieved only when the heading is a specific value are determined as single-value targets;

[0014] A maneuvering target cannot be achieved or is achieved when the heading is within a specific range, and each heading value within the specific range corresponds to a maneuvering target of a target value, which is determined as a one-to-one target;

[0015] A maneuvering target that cannot be achieved or when the heading is achieved within a specific range and each heading value within the specific range corresponds to a maneuvering target with multiple target values ​​is determined as a one-to-many target.

[0016] In some embodiments of the present application, determining the maneuvering parameter according to the type of the maneuvering target specifically includes:

[0017] When the type of the maneuvering target is the single-valued target, determining the maneuvering parameter to be the speed of the ship;

[0018] When the type of the maneuvering target is the one-to-one target, determining the maneuvering parameters to be the speed and heading of the ship;

[0019] When the type of the maneuvering target is the one-to-many target, the maneuvering parameters are determined to be the speed, heading and additional parameters of the ship; the additional parameters at least include the maneuvering time.

[0020] In some embodiments of the present application, the method further comprises:

[0021] The values ​​of the maneuvering parameters and the target values ​​of the maneuvering targets are displayed in a graphical and / or tabular form.

[0022] In order to achieve the above-mentioned object of the invention, the ship maneuvering decision-making auxiliary device provided by the present invention adopts the following technical solutions:

[0023] A ship maneuvering decision-making auxiliary device, comprising:

[0024] A maneuvering target type determination unit, used to determine the type of maneuvering target for assisting decision-making;

[0025] a maneuvering parameter determination unit, configured to determine a maneuvering parameter according to the type of the maneuvering target;

[0026] A maneuvering parameter value determination unit, used to determine a value range and a value step of the maneuvering parameter, and determine a value of the maneuvering parameter according to the value range and the value step;

[0027] a target value determination unit, configured to determine a target value of the maneuvering target according to the value of the maneuvering parameter;

[0028] A maneuvering decision assisting unit is used to assist maneuvering decisions according to the values ​​of the maneuvering parameters and the target values ​​of the maneuvering targets.

[0029] In some embodiments of the present application, the maneuvering target type determination unit determines the type of the maneuvering target for auxiliary decision-making, including:

[0030] Maneuvering targets that cannot be achieved or can be achieved only when the heading is a specific value are determined as single-value targets;

[0031] A maneuvering target cannot be achieved or is achieved when the heading is within a specific range, and each heading value within the specific range corresponds to a maneuvering target of a target value, which is determined as a one-to-one target;

[0032] A maneuvering target that cannot be achieved or when the heading is achieved within a specific range and each heading value within the specific range corresponds to a maneuvering target with multiple target values ​​is determined as a one-to-many target.

[0033] In some embodiments of the present application, the maneuvering parameter determination unit determines the maneuvering parameter according to the type of the maneuvering target, specifically including:

[0034] When the type of the maneuvering target is the single-valued target, determining the maneuvering parameter to be the speed of the ship;

[0035] When the type of the maneuvering target is the one-to-one target, determining the maneuvering parameters to be the speed and heading of the ship;

[0036] When the type of the maneuvering target is the one-to-many target, the maneuvering parameters are determined to be the speed, heading and additional parameters of the ship; the additional parameters at least include the maneuvering time.

[0037] In some embodiments of the present application, the device further comprises:

[0038] The display unit is used to display the values ​​of the maneuvering parameters and the target values ​​of the maneuvering targets in the form of graphics and / or tables.

[0039] Compared with the prior art, the advantages and positive effects of the present invention are:

[0040] The ship maneuvering decision-making assistance method and device provided by the present invention determine the maneuvering parameters according to the type of maneuvering target, determine the value of the maneuvering parameter according to the value range and the value step length, determine the target value of the maneuvering target according to the value of the maneuvering parameter, and assist the maneuvering decision according to the value of the maneuvering parameter and the target value of the maneuvering target; the method and device of the present invention are used to implement maneuvering decision assistance, which is to use the maneuvering parameters to "positively" determine the target value of the maneuvering target according to the timing logic, and for each value of the maneuvering parameter, a corresponding and accurate target value can be obtained, or a clear result that the maneuvering target cannot be achieved is given, thereby improving the accuracy of the auxiliary decision; because the maneuvering parameter is used to positively determine the target value, multiple maneuvering parameters and their one-to-one corresponding target values ​​can be obtained, so that the ship command The crew can obtain the maneuvering parameters required for all maneuvering targets that are close to and related to the preliminary maneuvering target, and can intuitively and comprehensively grasp the quantitative relationship between the maneuvering parameters and the targets, clarify the range of achievable targets, and facilitate comparison and selection of maneuvering parameter values, thereby realizing initiative in ship maneuvering decision-making; in addition, the method of positively determining the target value by maneuvering parameters is more convenient to establish a calculation model between maneuvering parameters and maneuvering targets. Even if the model details are increased or the model is improved, which increases the calculation complexity of the model, the target value of the maneuvering target corresponding to the maneuvering parameter can be obtained or a clear result that the maneuvering target cannot be achieved can be given. There is no situation where it is difficult to calculate or needs to be approximated, which is conducive to improving the accuracy of maneuvering decisions by improving the calculation model.

[0041] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become more clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 A flow chart of an embodiment of the ship maneuvering decision-making assistance method proposed by the present invention;

[0044] Figure 2 This is a schematic diagram of the structure of an embodiment of the ship maneuvering decision-making auxiliary device proposed by the present invention;

[0045] Figure 3 It is a schematic diagram showing the results of the maneuvering parameter values ​​and the target value of the maneuvering target when the maximum distance of the bow of the target ship is crossed;

[0046] Figure 4A schematic diagram showing the results of taking values ​​of maneuvering parameters and target values ​​of maneuvering targets when maneuvering close to a predetermined distance;

[0047] Figure 5 One of the result display diagrams of the values ​​of maneuvering parameters and the target values ​​of maneuvering targets during the position maneuvering;

[0048] Figure 6 The second schematic diagram shows the results of the maneuvering parameters and the target values ​​of the maneuvering target during the positioning maneuver. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0050] It should be noted that the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0051] First, a brief description of the technical route of this application is given.

[0052] When assisting ship maneuvering decisions, the existing technologies all "reversely" obtain maneuvering parameters based on maneuvering targets, which is a technical idea based on results. This method of reversely obtaining maneuvering parameters has some shortcomings. For example, when the model is complex, it is impossible to obtain accurate graphical results or analytical results, and the results can only be approximated, resulting in maneuvering decision assistance based on approximate and inaccurate maneuvering parameters, which affects the accuracy of the decision; the maneuvering parameters are unique, which is not conducive to fully grasping the different maneuvering targets that can be generated by different maneuvering parameter results, and is not conducive to commanders making ship maneuvering decisions.

[0053] This application analyzes the source of technical ideas and creatively proposes a positive idea starting from the feasible range of maneuvering parameters. It uses maneuvering parameters to positively determine the target value of the maneuvering target, which can effectively solve the shortcomings of existing maneuvering decision assistance based on results, thereby improving the initiative and accuracy of maneuvering decisions.

[0054] For more specific technical content, please refer to the subsequent detailed description.

[0055] Figure 1 Shown is a flow chart of an embodiment of the ship maneuver decision-making assistance method proposed by the present invention.

[0056] like Figure 1 As shown, this embodiment adopts the following process to assist in ship maneuvering decision making.

[0057] S11: Determine the type of maneuvering target to assist decision making.

[0058] It should be understood that the type of each maneuvering target is preset, and each time maneuvering decision assistance is performed, the type of maneuvering target actually to be achieved can be determined by calling the preset maneuvering target and its corresponding type.

[0059] The purpose of classifying and confirming the types of maneuvering targets is to improve the rapidity of target value confirmation, facilitate understanding and grasping the relationship between maneuvering parameters and maneuvering targets, and thus improve the efficiency of maneuvering decision support. The type to which each maneuvering target belongs can be determined by using the classification method of maneuvering targets in the relevant technology to divide and define the type. This embodiment does not limit the definition and division of specific types.

[0060] S12: Determine maneuvering parameters according to the type of the maneuvering target.

[0061] The maneuvering parameters corresponding to each type of maneuvering target are also known in advance. After determining the type of maneuvering target to be actually achieved, the maneuvering parameters corresponding to the maneuvering target to be actually achieved can be determined by calling the known types of maneuvering targets and their corresponding maneuvering parameters.

[0062] S13: Determine a value range and a value step of the maneuvering parameter, and determine a value of the maneuvering parameter.

[0063] The value range and value step of the maneuvering parameter can be determined in a variety of ways.

[0064] In some embodiments, the value range or value step of the maneuvering parameter is determined based on experience.

[0065] In some embodiments, the value range or value step of the maneuvering parameter is determined by calculation according to a known calculation method.

[0066] In some embodiments, the value range of the maneuvering parameter is not limited, and is the range of all possible values ​​of the maneuvering parameter.

[0067] After the value range and the value step are determined, the specific values ​​of all maneuvering parameters can be determined within the value range according to the value step.

[0068] S14: Determine the target value of the maneuvering target according to the value of the maneuvering parameter.

[0069] This process can be implemented by using all solution methods for ship maneuvering problems in related technologies, such as graphical methods, analytical calculation methods, etc.

[0070] There are usually multiple values ​​of the maneuvering parameter, and when the target can be achieved, each maneuvering parameter value corresponds to a target value of the maneuvering target. Therefore, multiple target values ​​of the maneuvering targets corresponding to the values ​​of the maneuvering parameters are obtained.

[0071] S15: Assisting maneuvering decision according to the values ​​of maneuvering parameters and the target value of maneuvering target.

[0072] S13 and S14 are used to obtain the values ​​of all maneuvering parameters within the value range and determined according to the value step, as well as the target value of the maneuvering target corresponding to the value of each maneuvering parameter. This can more comprehensively grasp the different maneuvering targets under different maneuvering parameters, facilitate active comparison of multiple maneuvering parameters and maneuvering targets, and then select more effective and appropriate maneuvering parameter values ​​for maneuvering decisions, thereby improving the initiative and accuracy of maneuvering decisions.

[0073] In some other embodiments, the ship maneuvering decision assistance method further includes:

[0074] The values ​​of the maneuvering parameters and the target values ​​of the maneuvering targets are displayed in graphical and / or tabular form.

[0075] By displaying the values ​​of maneuvering parameters and target values ​​of maneuvering targets in the form of graphics and / or tables, it is convenient for commanders to intuitively grasp the impact of changes in maneuvering parameters on maneuvering targets, which in turn helps commanders make maneuvering decisions.

[0076] In some embodiments, in order to more simply and clearly classify the maneuvering target and determine the maneuvering parameters, the type of the maneuvering target is determined using the following method:

[0077] On the premise that the relative positions of the enemy and our ships and the speed of our ships are determined, the maneuvering targets are classified according to the number of maneuvering targets corresponding to the course change.

[0078] The specific categories are as follows:

[0079] Single-valued target: The maneuvering target cannot be achieved, or can only be achieved when the heading is a specific value. This type of maneuvering target is determined as a single-valued target. For example, avoiding an enemy ship to maximize the shortest distance, crossing the bow of an enemy ship to maximize the distance to the bow.

[0080] One-to-one target: The maneuvering target cannot be achieved, or it is achieved when the heading is within a specific range, and each heading value within the specific range corresponds to a target value. This type of maneuvering target is determined as a one-to-one target. For example, the distance value of the shortest time to approach, the distance value of the shortest time to expand.

[0081] One-to-many objective: When a maneuvering objective cannot be achieved, or when it can be achieved within a specific range of headings, and each heading value within the specific range corresponds to multiple objective values, such a maneuvering objective is determined as a one-to-many objective. For example, for a positioning maneuver, when our side takes a certain heading, the positions that can be occupied are all the positions on the ray starting from our position and in the direction of the relative heading.

[0082] When the type of the maneuvering objective is a single-value objective, the maneuvering parameter is determined as the ship's speed.

[0083] When the type of the maneuvering objective is a one-to-one objective, the maneuvering parameters are determined as the ship's speed and heading.

[0084] When the type of the maneuvering objective is a one-to-many objective, the maneuvering parameters are determined as the ship's speed, heading, and additional parameters, and the additional parameters at least include the maneuvering time. Each combination of a heading value and a speed value corresponds to one / one set of values of the additional parameters.

[0085] In some other embodiments, the additional parameters, in addition to including the maneuvering time, also include distance, aspect angle, etc.

[0086] When the maneuvering parameter is the heading, its value range can be determined according to experience, specifically, the possible range of the decision-making heading can be estimated based on the current situation.

[0087] The value range of the heading can also be calculated according to a known calculation method. Specifically, the effective execution range of the heading can be calculated based on the enemy ship's speed and the speed to be executed, and used as the heading range. The effective execution range of the heading means: when the enemy ship's speed and our ship's speed are determined, if two headings can achieve the same relative heading, then only the heading with the larger relative speed is retained in the effective execution range. When Vw < Vd, the minimum value of this effective execution range should be greater than 180°, and the maximum value should be less than 360°; when Vw ≥ Vd, this effective execution range is 000.0° - 360.0°. Wherein, Vw is our ship's speed and Vd is the enemy ship's speed.

[0088] When the maneuvering parameter is the speed, its value range can be selected according to experience, and a common speed range can be chosen.

[0089] When the maneuvering parameter is the maneuvering time, its value range can be selected according to experience, within 2 hours; or a certain future range, such as within 1 hour to 1.5 hours after this moment.

[0090] For the value step, if the maneuvering parameter is the heading, it can be selected according to experience. For example, it can be selected as 1°; if the maneuvering parameter is the speed, it is selected as 1 knot or 0.5 knot according to experience; if the maneuvering parameter is the time, it can be selected as 5 minutes according to experience.

[0091] The ship maneuvering decision-making assistance method of each embodiment above uses the maneuvering parameter to positively determine the target value of the maneuvering target. For each value of the maneuvering parameter, a corresponding and accurate target value can be obtained, or a clear result that the maneuvering target cannot be achieved can be given. There is no situation where it is difficult to analyze and calculate or an approximate solution is required, thereby improving the accuracy of the auxiliary decision. Since the maneuvering parameter is used to positively determine the target value, multiple maneuvering parameters and their one-to-one corresponding target values ​​can be obtained at the same time, so that the ship commander can obtain the maneuvering parameters required for all maneuvering targets that are close to and related to the preliminary maneuvering target, and can intuitively and comprehensively grasp the quantitative relationship between the maneuvering parameters and the target, clarify the range of achievable targets, and facilitate comparison and selection of the values ​​of the maneuvering parameters, thereby realizing the initiative of ship maneuvering decision-making. In addition, the method of positively determining the target value by maneuvering parameters makes it easier to establish a calculation model between the maneuvering parameters and the maneuvering target. Even if the model details are increased or improved, for example, the turning radius and time during turning are increased, which increases the calculation complexity of the model, the target value of the maneuvering target corresponding to the maneuvering parameter can be obtained or a clear result that the maneuvering target cannot be achieved can be given. There is no situation where it is difficult to calculate or requires approximate solution, which is conducive to improving the accuracy of maneuvering decisions by improving the calculation model.

[0092] Figure 2 Shown is a schematic structural diagram of an embodiment of a ship maneuvering decision-making auxiliary device proposed by the present invention.

[0093] like Figure 2 As shown, the structural units included in the device of this embodiment, the functions of the structural units and the relationships between them are as follows:

[0094] The device includes:

[0095] The maneuvering target type determination unit 21 is used to determine the type of the maneuvering target for auxiliary decision making.

[0096] The maneuvering parameter determination unit 22 is used to determine the maneuvering parameter according to the type of the maneuvering target determined by the maneuvering target type determination unit 21 .

[0097] The maneuvering parameter value determination unit 23 is used to determine the value range and value step of the maneuvering parameter determined by the maneuvering parameter determination unit 22, and determine the value of the maneuvering parameter according to the value range and value step.

[0098] The target value determination unit 24 is used to determine the target value of the maneuvering target according to the value of the maneuvering parameter determined by the maneuvering parameter value determination unit 23.

[0099] The maneuvering decision assisting unit 25 is used to assist the maneuvering decision according to the value of the maneuvering parameter determined by the maneuvering parameter value determining unit 23 and the target value of the maneuvering target determined by the target value determining unit 24 .

[0100] The device of the above structure runs the corresponding software program and performs the corresponding function according to Figure 1 The process of the ship maneuvering decision-making assistance method embodiment and other embodiments is to assist in maneuvering decision-making, so as to achieve Figure 1 The corresponding technical effects of the embodiment and other embodiments.

[0101] In some other embodiments, the device also includes a display unit that displays the values ​​of the maneuvering parameters and the target values ​​of the maneuvering targets in the form of graphics and / or tables, so that the commander can intuitively grasp the impact of the change in the maneuvering parameters on the maneuvering targets, thereby facilitating the commander to make maneuvering decisions.

[0102] Several specific examples of using the above-mentioned ship maneuver decision-making auxiliary method to make maneuver decisions are given below to further illustrate the application of the method proposed in the present invention.

[0103] Assume that the initial situation is as follows: the enemy ship's initial bearing is 266.0°, the distance is 10 nautical miles, the target course is 060.0°, and the speed is 24 knots; our ship's speed is 18 knots.

[0104] (i) If the commander decides to take the maximum distance maneuver to cross the target ship's bow, the maneuver type is a single-value target, the maneuver parameter is the speed, and the speed range is 10-20 knots, with a step size of 1 knot.

[0105] Through calculation, the course, time and distance of the maneuvering target that crosses the target ship's bow at the maximum distance under all speed values ​​are obtained.

[0106] The calculation results can be provided in tabular or graphical form, such as Table 1, Figure 3 Through the tables and graphs, the commander can select the speed to be executed according to the relevant information of crossing the target ship's bow at different speeds, and can form an understanding of the quantitative relationship between speed and distance, heading, and time, which is convenient for decision-making adjustment and optimization.

[0107] Table 1 Course, distance and time when crossing the target ship's bow at different speeds

[0108] My speed (knots) 10 11 12 13 14 15 16 17 18 19 20 Crossing bow distance (chain) none 4.87 13.95 21.85 28.84 35.13 40.87 46.19 51.22 56.05 60.8 My heading (°) none 267.0 269.9 272.7 275.6 278.5 281.9 285.3 288.8 292.2 296.2 Time to cross the bow (minutes) none 26.9 25.31 24.07 23.13 22.46 22.06 21.92 22.09 22.66 23.79

[0109] (ii) If the commander decides to take a maneuver to approach the predetermined distance, the maneuver type is a one-on-one target, and the maneuver parameters are heading and speed. Based on the situation and the performance of our ship, the heading is selected in the range of 270°-360°, with a step size of 10°; the speed is selected in the range of 12-20 knots, with a step size of 4 knots.

[0110] Through calculation, the predetermined distance and time to approach the maneuvering target at a predetermined distance under all heading and speed value combinations are obtained.

[0111] The calculation results can be provided in tabular or graphical form, such as Table 2, Figure 4 As shown. By design, the combination of heading and speed is more intuitively displayed in graphical form than in tables, such as grid display. Through tables and graphs, commanders can select the heading and speed to be executed based on the relevant information of approaching the target to the predetermined distance at different headings and speeds, and can form an understanding of the quantitative relationship between heading, speed and predetermined distance and time, which is convenient for decision adjustment and optimization.

[0112] Table 2 Predetermined distance and time to approach the target at different headings and speeds

[0113]

[0114] (III) If the commander decides to take a positioning maneuver, the maneuver type is one-to-many targets, and the maneuver parameters are course, speed, and time. Based on the situation and the performance of our ship, the course is selected in the range of 270°-360°, with a step of 10°; the speed is selected in the range of 14-18 knots, with a step of 4 knots; the time calculation range is selected in the range of 10-22 minutes, with a step of 4 minutes.

[0115] Through calculation, the position of the occupied target (i.e. the target direction and distance) is obtained under all combinations of heading, speed and time values.

[0116] The calculation results can be provided in tabular or graphical form, such as Table 3, Table 4, Figure 5 , Figure 6 As shown in Table 3 and Figure 5 The calculation results are as follows when the ship speed is 18 knots; Table 4 and Figure 6 The calculation result is when our ship's speed is 14 knots. Since there are three maneuvering parameters, separate tables and graphs are provided for different speed values. In the graphical form, the position information of all positions can be displayed or the position information of a specific position can be interactively selected. By design, the relationship between the heading, speed, time combination and the arrival position is more intuitive than the table, which is convenient for the commander to select the position parameters.

[0117] Table 3 Target positions occupied by our ship at different headings and at different times when the ship was at 18 knots

[0118]

[0119] Table 4: Target positions occupied by our ship at different headings and at different times when the ship was at 14 knots

[0120]

[0121]

[0122] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions claimed to be protected by the present invention.

Claims

1. A ship maneuvering decision-making assistance method, characterized in that: The method comprises: Determine the type of maneuvering target to aid decision making; determining maneuvering parameters according to the type of the maneuvering target; Determining a value range and a value step of the maneuvering parameter, and determining a value of the maneuvering parameter according to the value range and the value step; Determining a target value of the maneuvering target according to the value of the maneuvering parameter; Assisting maneuvering decision-making according to the value of the maneuvering parameter and the target value of the maneuvering target; The type of the maneuvering target is determined by the following method: Under the premise that the relative positions of the enemy and our ships are determined and the speed of our ships is determined, the maneuvering targets are classified according to the number of maneuvering targets corresponding to the course change. The specific classifications include: Maneuvering targets that can be achieved only when the heading is a specific value are defined as single-value targets; A maneuvering target is achieved when the heading is within a specific range, and each heading value within the specific range corresponds to a target value, which is determined as a one-to-one target; When the heading is achieved within a specific range, and each heading value within the specific range corresponds to a maneuvering target with multiple target values, it is determined as a one-to-many target; Determine the maneuvering parameters according to the type of the maneuvering target, specifically including: When the type of the maneuvering target is the single-valued target, determining the maneuvering parameter to be the speed of the ship; When the type of the maneuvering target is the one-to-one target, determining the maneuvering parameters to be the speed and heading of the ship; When the type of the maneuvering target is the one-to-many target, the maneuvering parameters are determined to be the speed, heading and additional parameters of the ship; the additional parameters at least include the maneuvering time.

2. The ship maneuvering decision-making assistance method according to claim 1 is characterized in that: The method further comprises: The values ​​of the maneuvering parameters and the target values ​​of the maneuvering targets are displayed in a graphical and / or tabular form.

3. A ship maneuvering decision-making auxiliary device, characterized in that: The device comprises: A maneuvering target type determination unit, used to determine the type of maneuvering target for assisting decision-making; a maneuvering parameter determination unit, configured to determine a maneuvering parameter according to the type of the maneuvering target; A maneuvering parameter value determination unit, used to determine a value range and a value step of the maneuvering parameter, and determine a value of the maneuvering parameter according to the value range and the value step; a target value determination unit, configured to determine a target value of the maneuvering target according to a value of the maneuvering parameter; A maneuvering decision assisting unit, used to assist maneuvering decision according to the value of the maneuvering parameter and the target value of the maneuvering target; The maneuvering target type determination unit determines the type of maneuvering target for auxiliary decision-making, including: classifying the maneuvering targets according to the number of maneuvering targets corresponding to the course change, based on the premise that the relative positions of the enemy and our ships are determined and the speed of our ship is determined, and the specific classification includes: Maneuvering targets that can be achieved only when the heading is a specific value are defined as single-value targets; A maneuvering target is achieved when the heading is within a specific range, and each heading value within the specific range corresponds to a target value, which is determined as a one-to-one target; When the heading is achieved within a specific range, and each heading value within the specific range corresponds to a maneuvering target with multiple target values, it is determined as a one-to-many target; The maneuver parameter determination unit determines the maneuver parameter according to the type of the maneuver target, specifically including: When the type of the maneuvering target is the single-valued target, determining the maneuvering parameter to be the speed of the ship; When the type of the maneuvering target is the one-to-one target, determining the maneuvering parameters to be the speed and heading of the ship; When the type of the maneuvering target is the one-to-many target, the maneuvering parameters are determined to be the speed, heading and additional parameters of the ship; the additional parameters at least include the maneuvering time.

4. The ship maneuvering decision support device according to claim 3, characterized in that: The device also includes: The display unit is used to display the values ​​of the maneuvering parameters and the target values ​​of the maneuvering targets in the form of graphics and / or tables.

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