Underwater course economy evaluation optimization method and system based on underwater ocean current data

Abstract

The invention relates to the field of marine navigation, in particular to an underwater route economical efficiency evaluation optimization method and system based on ocean current data, and the system comprises a route configuration module, an ocean current data extraction module, a segmented economical efficiency evaluation and speed optimization module, a result output module and an overall economical efficiency evaluation module. According to the method, the economic index of the underwater vehicle along a set underwater route is quantitatively calculated based on ocean current data and the navigation capability of the underwater vehicle. By means of the method, navigational speed control suggestions of the underwater vehicle at different positions can be given, and reliable support is provided for underwater economical route optimization and economical control of the underwater vehicle.

Description

Technical Field

[0001] The present invention relates to the field of marine navigation, and in particular to an underwater route economic evaluation and optimization method and system based on underwater current data. Background Art

[0002] The design and optimization of routes is a relatively complex decision-making process. It is a process that fully considers environmental factors, ship performance, ports and other factors on the premise of ensuring the safety of ships and people on board so that the ship's navigation can achieve the best economy, including the shortest sailing distance, lowest fuel consumption, shortest sailing time, etc., so as to achieve the goal of reducing operating costs and improving operating efficiency.

[0003] Prior art, such as a patent document with publication number CN110147900A, discloses a multi-task comprehensive optimization method for ship route speed, which divides the initial route into several segments according to longitude, obtains several points as turning points to be optimized, and establishes a multi-objective optimization model with a wave height penalty function based on fuel consumption and navigation time. The model is solved using the multi-objective optimization algorithm Intensity Pareto 2, and the route is optimized by adjusting the latitude position of each turning point to be optimized and the water speed of each segment. Summary of the invention

[0004] In order to quantitatively calculate the economic index of an underwater vehicle along a set underwater route, give speed control suggestions for the vehicle at different positions, and provide reliable support for underwater economic route optimization and underwater vehicle economic control, the present invention provides an underwater route economic evaluation and optimization method and system based on underwater current data.

[0005] The technical objectives of the present invention are achieved through the following technical solutions:

[0006] A method for evaluating and optimizing the economic efficiency of underwater routes based on ocean current data.

[0007] S1. Set several locations along the route from the starting point to the end point. The latitude, longitude and depth of each location point are recorded as loc i ,i=1,2,…,N,N≥3;

[0008] The maximum speed of the aircraft is Ve M , at location loc i The speed gears of the aircraft are Ve im ;

[0009] Ve im =5m, m=1,2,…,M-1;

[0010] Ve im =Ve M , m = M;

[0011]

[0012] S2, according to each location point loc i Extract the current direction and current speed from the standardized ocean current grid data, corresponding to the loc of each location point i The velocity of the ocean current is Vc i , the ocean current velocity vector is

[0013] S3. Calculate and output the segment economic index IH of two adjacent position points on the route i ,i=1,2,3,…,N;

[0014] IH i =min(IH im ), m=1,2,…,M;

[0015]

[0016] Where Vg im is the ground speed.

[0017] Furthermore, the method also includes the ground speed Vg im calculate:

[0018] According to the ocean current velocity vector m corresponds to the ground speed vector The direction of the vehicle relative to the ocean current under the speed gear corresponding to m The size of m is used to calculate the ground speed Vg at the speed gear corresponding to m. im and the spacecraft relative velocity vector The direction of the spacecraft relative velocity vector The direction of the spacecraft relative velocity vector and the current velocity vector The angle α;

[0019] Vg im 2 =Vc i 2 +Ve im 2 -2Vc i Ve im |cosα|;

[0020]

[0021] Where θ is the ground speed vector and the current velocity vector The angle between the ground speed vector The direction is the tangent direction of the vehicle's motion along the route.

[0022] Furthermore, the method further comprises:

[0023] S4, calculate the time taken for segmentation t i , where d i is the location point loc i and location point loc i+1 The straight-line distance between

[0024] IH i Corresponding Ve im As the location point loc i Segment recommended speed Ve i , IH i Corresponding Vg im As the location point loc i The segmented ground speed Vg i , output segment recommended speed Ve i , Segmented ground speed Vg i And the segmentation time t i .

[0025] Furthermore, the method further comprises:

[0026] S5. Calculate the overall economic index IH and the overall time consumption t:

[0027]

[0028] Furthermore, when the ground speed Vg im When calculating, when there are two Vg im When there are solutions of im value.

[0029] The present invention also provides an underwater route economic evaluation and optimization system based on underwater current data, comprising:

[0030] The route configuration module is used to set the spatial position information of the route and the maximum speed and various speed gears of the underwater vehicle;

[0031] A current data extraction module, used to extract the current direction and current velocity in the standardized current grid data according to the longitude and latitude of each position point on the route;

[0032] The segment economic evaluation and speed optimization module is used to calculate the segment economic index, segment recommended speed, segment ground speed and segment time consumption of two adjacent positions in the route;

[0033] The result output module is used to evaluate the optimization result output.

[0034] Furthermore, the system also includes an overall economic efficiency evaluation module for calculating the overall economic efficiency index of the route and the overall time consumption of the route.

[0035] Furthermore, the route configuration module includes a route point setting module and a vehicle performance configuration submodule, the route point setting module is used to set the longitude and latitude and depth of each position point of the route, and the vehicle performance configuration submodule is used to set the maximum speed and various speed gears of the underwater vehicle;

[0036] The segmented economic evaluation and speed optimization module includes a segmented economic index calculation submodule, a ground speed calculation submodule, and a segmented recommended speed and segmented time calculation submodule. The segmented economic index calculation submodule is used to calculate the segmented economic index of two adjacent position points in the route, the ground speed calculation submodule is used to calculate the ground speed and the direction of the relative speed vector of the aircraft under the corresponding speed gear, and the segmented recommended speed and segmented time calculation submodule is used to calculate the segmented recommended speed, segmented time and segmented ground speed.

[0037] Furthermore, the overall economic efficiency evaluation module includes an overall economic efficiency index calculation module and an overall time consumption calculation submodule. The overall economic efficiency index calculation module is used to calculate the overall economic efficiency index of the route, and the overall time consumption calculation submodule is used to calculate the overall time consumption of the route.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] 1. Based on ocean current data and the navigation capability of underwater vehicles, the present invention quantitatively calculates the economic index of underwater vehicles along a set underwater route, and can give speed control suggestions for vehicles under the water at different positions, thus providing reliable support for the optimization of underwater economic routes and the economic control of underwater vehicles.

[0040] 2. The present invention focuses on the ability to make an objective, automatic, rapid and accurate assessment of the economy of a route when an underwater vehicle performs a navigation mission underwater. The output results such as the overall economy index of the route, the overall time consumption of the route, and the segmented economy index can provide reliable guidance for the economic assessment of the underwater route. The output segmented recommended speed can provide effective route speed configuration suggestions for optimizing the energy consumption of underwater vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the composition of the underwater route economic evaluation and optimization system based on underwater current data in the present invention.

[0042] Figure 2 It is a schematic diagram of speed synthesis at the route segment position points in the present invention. DETAILED DESCRIPTION

[0043] The technical solution of the present invention is further described below in conjunction with specific embodiments:

[0044] An underwater route economic evaluation and optimization system based on underwater current data, such as Figure 1 As shown, including:

[0045] The route configuration module is used to set the spatial position information of the route and the maximum speed and various speed gears of the underwater vehicle;

[0046] A current data extraction module, used to extract the current direction and current velocity in the standardized current grid data according to the longitude and latitude of each position point on the route;

[0047] The segment economic evaluation and speed optimization module is used to calculate the segment economic index, segment recommended speed, segment ground speed and segment time consumption of two adjacent positions in the route;

[0048] The result output module is used to evaluate the optimization result output.

[0049] Preferably, the system also includes an overall economic efficiency evaluation module for calculating the overall economic efficiency index of the route and the overall time consumption of the route.

[0050] More specifically, the route configuration module includes a route point setting module and a vehicle performance configuration submodule. The route point setting module is used to set the longitude, latitude and depth of each position point of the route, and the vehicle performance configuration submodule is used to set the maximum speed and various speed gears of the underwater vehicle.

[0051] The segmented economic evaluation and speed optimization module includes a segmented economic index calculation submodule, a ground speed calculation submodule, and a segmented recommended speed and segmented time calculation submodule. The segmented economic index calculation submodule is used to calculate the segmented economic index of two adjacent position points in the route, the ground speed calculation submodule is used to calculate the ground speed and the direction of the relative speed vector of the aircraft under the corresponding speed gear, and the segmented recommended speed and segmented time calculation submodule is used to calculate the segmented recommended speed, segmented time and segmented ground speed.

[0052] The overall economic efficiency evaluation module includes an overall economic efficiency index calculation module and an overall time consumption calculation submodule. The overall economic efficiency index calculation module is used to calculate the overall economic efficiency index of the route, and the overall time consumption calculation submodule is used to calculate the overall time consumption of the route.

[0053] On the other hand, this embodiment also provides an underwater route economic evaluation and optimization method based on ocean current data, comprising the following steps:

[0054] S1. Set several location points along the route from the starting point to the end point, such as Figure 2As shown, the longitude, latitude and depth of each location point on the route are set through the route point setting submodule, recorded as loc i , i=1,2,…,N,N≥3; loc1 is the starting point of the route, loc N is the route end point;

[0055] The maximum speed and various speed gears of the underwater vehicle are set through the vehicle speed performance configuration submodule, where the maximum speed of the vehicle is Ve M , Ve M Greater than 10 knots, at position loc i The speed gears of the aircraft are Ve im It should be noted that the vehicle referred to in the embodiment is a navigation device with a power drive system below the water surface, and does not include ships operating above the water surface.

[0056] Ve im =5m, m=1,2,…,M-1;

[0057] Ve im =Ve M , m = M;

[0058]

[0059] In this embodiment, the maximum speed of the aircraft Ve M =32 sections, Then the values ​​of m are 1, 2, 3, 4, 5, 6, 7;

[0060] When m is between 1 and 6, Ve im The corresponding m is 5, 10, 15, 20, 25, 30; when m=7, Ve im =32.

[0061] S2, the ocean current data extraction module is based on the location points loc i The longitude and latitude of each location point are used to extract the current direction and current speed from the standardized ocean current grid data. i The velocity of the ocean current is Vc i , the ocean current velocity vector is

[0062] S3. Calculate and output the segment economic index IH of two adjacent position points on the route i ,i=1,2,3,…,N;

[0063] IH i =min(IH im ), m=1,2,…,M;

[0064]

[0065] Where Vg im Ve is the speed over the ground, and its calculation requires calling the speed over the ground calculation submodule. In this embodiment, the aircraft has 7 speed gears, and Ve under the 7 speed gears must be calculated at each position point. im And the Vg corresponding to 7 speed gears im value.

[0066] Specifically, the segmented economic index IH is calculated by the segmented economic index calculation submodule. i , I.H. i Take the economic index IH at all speed gears im The youngest one, IH im The smaller the value, the higher the economy. The calculated segment economy index IH i Output through the result output module.

[0067] More specifically, the ground speed Vg im When calculating:

[0068] Input the current velocity vector to the ground speed calculation submodule m corresponds to the ground speed vector The direction of the vehicle relative to the ocean current under the speed gear corresponding to m The size of m is used to calculate the ground speed Vg at the speed gear corresponding to m. im and the spacecraft relative velocity vector The direction of the spacecraft relative velocity vector The direction of the spacecraft relative velocity vector and the current velocity vector The angle α is as follows: Figure 2 As shown, and The relationship between the three velocity vectors is The following two formulas are used for combined calculation:

[0069] Vg im 2 =Vc i 2 +Ve im 2 -2Vc i Ve im |cosα|;

[0070]

[0071] Where θ is the ground speed vector and the current velocity vector The angle between the ground speed vector The direction of is the tangent direction of the spacecraft along the route; when i = 1, the tangent direction is the direction of the line connecting loc1 and loc2; when i = N, the tangent direction is loc N-1 With loc N The direction of the line; when i = 2, ..., N-1, the tangent direction is loc i-1 With loc i+1 The connection direction.

[0072] Considering that there may be two Vg im The larger solution is taken as Vg im The value is the ground speed Vg at the speed gear corresponding to m im value.

[0073] Furthermore, the method further comprises:

[0074] S4. Calculate the segment time t through the segment recommended speed and segment time calculation submodule i , Segment recommended speed Ve i and segmented ground speed Vg i ;

[0075]

[0076] where d i is the location point loc i and location point loc i+1 The straight-line distance between them, i=1,2,…,N.

[0077] IH i Corresponding Ve im As the location point loc i Segment recommended speed Ve i , IH i Corresponding Vg im As the location point loc i The segmented ground speed Vg i , output the segmented recommended speed Ve through the result output module i , Segmented ground speed Vg i and segmentation time t i .

[0078] Furthermore, the method further comprises:

[0079] S5. Calculate the overall economic index IH through the overall economic index calculation submodule, calculate the overall time consumption t through the overall economic index calculation submodule, and output the overall economic index IH and the overall time consumption t through the result output module:

[0080]

[0081] It should be noted that the result output module can output the results one by one, or all structures including the overall economic index IH, the overall time consumption t, the segmented economic index IH i , Segment recommended speed Ve i , Segmented ground speed Vg i and segmentation time t i Synchronous output. It should also be noted that in this embodiment, the result output through the result output module can be displayed on a display screen, such as a display screen of an aircraft control room device, a display screen of an aircraft external device, or the result output can be fed back to a main control device, a navigation device, etc.

[0082] This embodiment is only a further explanation of the present invention, not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed, but as long as it is within the scope of the claims of the present invention, it will be protected by the patent law.

Claims

1. A method for evaluating and optimizing the economic efficiency of underwater routes based on ocean current data, characterized in that: S1. Set several locations along the route from the starting point to the end point. The latitude, longitude and depth of each location point are recorded as loc i ,i=1,2,…,N,N≥3; The maximum speed of the aircraft is Ve M , at location loc i The speed gears of the aircraft are Ve im ; And im =5m,m=1,2,…,M-1; And im =And M ,m=M; S2, according to each location point loc i Extract the current direction and current speed from the standardized ocean current grid data, corresponding to the loc of each location point i The velocity of the ocean current is Vc i , the ocean current velocity vector is S3. Calculate and output the segment economic index IH of two adjacent position points on the route i , i=1,2,3,…,N; IH i =min(IH im ),m=1,2,…,M; Where Vg im is the ground speed.

2. The method for evaluating and optimizing the economic efficiency of underwater routes based on ocean current data according to claim 1, characterized in that: The method also includes the ground speed Vg im calculate: According to the ocean current velocity vector m corresponds to the ground speed vector The direction of the vehicle relative to the ocean current under the speed gear corresponding to m The size of m is used to calculate the ground speed Vg at the speed gear corresponding to m. im and the spacecraft relative velocity vector The direction of the spacecraft relative velocity vector The direction of the vehicle's relative velocity vector and the current velocity vector The angle α; Yes im 2 =Vc i 2 +Ve im 2 -2Vc i Ticks im |cosα|; Where θ is the ground speed vector and the current velocity vector The angle between the ground speed vector The direction is the tangent direction of the vehicle's motion along the route.

3. The method for evaluating and optimizing the economic efficiency of underwater routes based on ocean current data according to claim 2 is characterized in that: The method further includes: S4, calculate the time taken for segmentation t i , where d i is the location point loc i and location point loc i+1 The straight-line distance between IH i Corresponding Ve im As the location point loc i Segment recommended speed Ve i , IH i Corresponding Vg im As the location point loc i The segmented ground speed Vg i , output segment recommended speed Ve i , Segmented ground speed Vg i And the segmentation time t i .

4. The method for evaluating and optimizing the economic efficiency of underwater routes based on ocean current data according to claim 3 is characterized in that: The method further includes: S5. Calculate the overall economic index IH and the overall time consumption t:

5. The method for evaluating and optimizing the economic efficiency of a route based on ocean current data according to claim 2 is characterized in that: Calculate ground speed Vg im When there are two Vg im When there are solutions of im value.

6. An underwater route economic evaluation and optimization system based on underwater current data, characterized in that: include: The route configuration module is used to set the spatial position information of the route and the maximum speed and various speed gears of the underwater vehicle; A current data extraction module, used to extract the current direction and current velocity in the standardized current grid data according to the longitude and latitude of each position point on the route; The segment economic evaluation and speed optimization module is used to calculate the segment economic index, segment recommended speed, segment ground speed and segment time consumption of two adjacent positions in the route; The result output module is used to evaluate the optimization result output.

7. The underwater route economic evaluation and optimization system based on underwater current data according to claim 6 is characterized in that: The system also includes an overall economic evaluation module for calculating the overall economic index of the route and the overall time consumption of the route.

8. The underwater route economic evaluation and optimization system based on underwater current data according to claim 6 is characterized in that: The route configuration module includes a route point setting module and a vehicle performance configuration submodule, wherein the route point setting module is used to set the longitude, latitude and depth of each position point of the route, and the vehicle performance configuration submodule is used to set the maximum speed and various speed gears of the underwater vehicle; The segmented economic evaluation and speed optimization module includes a segmented economic index calculation submodule, a ground speed calculation submodule, and a segmented recommended speed and segmented time calculation submodule. The segmented economic index calculation submodule is used to calculate the segmented economic index of two adjacent position points in the route, the ground speed calculation submodule is used to calculate the ground speed and the direction of the relative speed vector of the aircraft under the corresponding speed gear, and the segmented recommended speed and segmented time calculation submodule is used to calculate the segmented recommended speed, segmented time and segmented ground speed.

9. The underwater route economic evaluation and optimization system based on underwater current data according to claim 7 is characterized in that: The overall economic efficiency evaluation module includes an overall economic efficiency index calculation module and an overall time consumption calculation submodule. The overall economic efficiency index calculation module is used to calculate the overall economic efficiency index of the route, and the overall time consumption calculation submodule is used to calculate the overall time consumption of the route.

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