Ship navigation control method and device, storage medium and equipment

Abstract

The invention discloses a ship navigation control method and device, a storage medium and equipment, and belongs to the technical field of ship navigation control, the current position and course angle of a ship are obtained, and the corresponding control method is executed according to judgment of the current position and the current course section. During linear navigation, a proportional differential adjustment method is introduced, namely, the rudder angle change of the ship is controlled and adjusted through the deviation correction value between the current course angle and the target course when the due north is 0 degree, so that the ship converges to the target course quickly; during folding sailing, an arc leg tangent to the two linear legs is inserted into the original folding line leg according to the minimum turning radius of the ship through a method of inserting the arc leg, so that the ship can steer conveniently. Through the two modes, the fitting degree of the ship and the preset ship route when the ship moves along different ship routes is optimized.

Description

Technical Field

[0001] The present invention relates to a ship navigation control method, device, storage medium and equipment, and belongs to the technical field of ship navigation control. Background Art

[0002] The movement of ships in the ocean is characterized by nonlinearity and disturbance, and is a typical type of uncertain nonlinear motion. The existing technology for controlling ship navigation, that is, automatic navigation according to a predetermined route, has the following problems: 1. When sailing in a straight line, an S-shaped trajectory appears and cannot fit the straight route; 2. It cannot fit the route well near the turning point of two non-parallel routes. In summary, the existing technology for controlling ship navigation still has the problem of poor route-fitting ability of the ship. Summary of the Invention

[0003] The object of the present invention is to provide a ship navigation control method, device, storage medium and equipment to solve the problem of poor route-adapting ability of ships in the prior art.

[0004] To achieve the above objectives, the present invention is implemented by adopting the following technical solutions:

[0005] In a first aspect, the present invention provides a ship navigation control method, comprising:

[0006] Get the current position and heading angle of the ship;

[0007] In response to detecting that the current route segment of the ship is a straight line and the current position is not on the current route segment, calculating the distance between the current position and the current route segment, calculating a next-moment deviation correction value based on a deviation between the heading angle and a target heading and the distance, the target heading being a direction from the current position to a navigation target point on the current route segment, calculating a next-moment rudder angle control value based on the next-moment deviation correction value, correcting the next-moment rudder angle control value to obtain an actual next-moment rudder angle control value, and performing navigation control on the ship based on the actual next-moment rudder angle control value;

[0008] In response to detecting that the current route segment of the ship is a broken line and the current position is on the current route segment, the coordinates of the turning start point and the turning end point on the current route segment are calculated according to the coordinates of the current route segment and the minimum turning radius of the ship, the ship is controlled to start from the turning start point and move in an arc with the minimum turning radius to the turning end point, and then the ship is controlled to continue sailing along the current route segment.

[0009] Furthermore, the deviation correction value at the next moment is calculated based on the deviation between the heading angle and the target heading and the distance, using the following formula:

[0010] ;

[0011] ;

[0012] in, is the deviation correction value at the next moment, is the heading correction value, is the length of the unit arc, where:

[0013] ;

[0014] ;

[0015] in, is the current heading angle of the ship, For the target heading, is the distance correction value, where:

[0016] ;

[0017] in, is the normalized value of the angle between the first vector and the second vector, where the first vector is the vector from the starting point of the current route segment to the current position, and the second vector is the vector from the starting point of the current route segment to the end point of the current route segment. is the distance adjustment value, where:

[0018] ;

[0019] in, is the distance between the current position and the current route segment, is the preset speed proportional change coefficient, is the velocity component of the ship at the current moment perpendicular to the current route segment, It is a preset constant parameter.

[0020] Furthermore, the rudder angle control value at the next moment is calculated according to the deviation correction value, using the following formula:

[0021] ;

[0022] in, is the rudder angle control value at the next moment, K p is the preset proportional change coefficient, is the deviation correction value at the next moment, K d is the preset differential variation coefficient, It is the difference between the deviation correction value at the next moment and the deviation correction value at the current moment.

[0023] Furthermore, the correcting the rudder angle control value at the next moment to obtain the actual rudder angle control value at the next moment includes:

[0024] First, the rudder angle control value at the next moment is corrected for the first time using the following formula so that the rudder angle control value does not exceed the maximum rudder angle control value:

[0025] ;

[0026] Then, the rudder angle control value at the next moment is corrected for the second time using the following formula to obtain the actual rudder angle control value at the next moment, so that the difference between the rudder angle control value at the current moment and the rudder angle control value at the next moment is not greater than the rudder angle change rate:

[0027] ;

[0028] in, is the rudder angle control value at the next moment, is the actual rudder angle control value at the next moment, is the rudder angle control value at the current moment, is the maximum value of the preset rudder angle control value, is the rate of change of the rudder angle, is the unit time step.

[0029] Furthermore, in the process of controlling the ship to move in an arc with a minimum turning radius from the turning starting point to the turning ending point, the rudder angle control value of the controlled ship is always the maximum value of the preset rudder angle control value.

[0030] Furthermore, after the step of obtaining the current position and heading angle of the vessel, the method further includes:

[0031] In response to detecting that the current route segment of the ship is a straight line and the current position is on the current route segment, the ship is controlled to continue sailing along the current route segment.

[0032] Furthermore, after the step of obtaining the current position and heading angle of the vessel, the method further includes:

[0033] In response to detecting that the current route segment of the ship is a broken line and the current position is not on the current route segment, the minimum distance between the current position and the current route segment is calculated, and the deviation correction value at the next moment is calculated based on the deviation between the heading angle and the target heading and the minimum distance. The target heading is the direction from the current position to the navigation target point on the current route segment. The rudder angle control value at the next moment is calculated based on the deviation correction value at the next moment, and the rudder angle control value at the next moment is corrected to obtain the actual rudder angle control value at the next moment. The ship is navigated according to the actual rudder angle control value at the next moment until the ship sails to the current route segment.

[0034] In a second aspect, the present invention provides a ship navigation control device, comprising:

[0035] The navigation data acquisition module is configured to: obtain the current position and heading angle of the ship;

[0036] a straight-line navigation control module configured to: in response to detecting that the current route segment of the ship is a straight line and the current position is not on the current route segment, calculate the distance between the current position and the current route segment, calculate a next-moment deviation correction value based on the deviation between the heading angle and the target heading and the distance, the target heading being the direction from the current position to a navigation target point on the current route segment, calculate a next-moment rudder angle control value based on the next-moment deviation correction value, correct the next-moment rudder angle control value to obtain an actual next-moment rudder angle control value, and perform navigation control of the ship based on the actual next-moment rudder angle control value;

[0037] The discounted navigation module is configured to: in response to detecting that the current route segment of the ship is a broken line and the current position is on the current route segment, calculate the coordinates of the turning start point and the turning end point on the current route segment according to the coordinates of the current route segment and the minimum turning radius of the ship, control the ship to start from the turning start point and move in an arc with the minimum turning radius to the turning end point, and then control the ship to continue sailing along the current route segment.

[0038] In a third aspect, the present invention provides a computer-readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the steps of the ship navigation control method described in any one of the first aspects.

[0039] In a third aspect, the present invention provides a computer device, comprising:

[0040] Memory, used to store computer programs / instructions;

[0041] A processor is used to execute the computer program / instructions to implement the steps of the ship navigation control method according to any one of the first aspects.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] The present invention provides a ship navigation control method, device, storage medium, and equipment. During straight-line navigation, this method incorporates a proportional differential adjustment method. Specifically, the method uses the deviation correction value between the current heading angle and the target heading when true north is 0 degrees to control and adjust the ship's rudder angle, allowing the ship to quickly converge toward the target route. During zigzag navigation, this method also incorporates an arc segment insertion method. Based on the ship's minimum turning radius, a circular arc segment tangent to two straight-line segments is inserted within the original zigzag segment to facilitate steering. These two methods optimize the ship's adherence to the preset route when moving along different routes. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1This is a flow chart of a ship navigation control method corresponding to Example 1 of the present invention;

[0045] Figure 2 This is a flow chart of a ship navigation control method corresponding to Embodiment 3 of the present invention;

[0046] Figure 3 This is a comparison chart of route effects under different control modes provided by an embodiment of the present invention;

[0047] Figure 4 2. It is a schematic diagram of the navigation compensation effect under the discounted navigation provided by an embodiment of the present invention;

[0048] Figure 5 It is a structural diagram of a ship dynamic positioning system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0050] Example 1.

[0051] like Figure 1 As shown, the present invention provides a ship navigation control method, comprising:

[0052] Get the current position and heading angle of the ship;

[0053] In response to detecting that the current route segment of the ship is a straight line and the current position is not on the current route segment, calculating the distance between the current position and the current route segment, calculating a next-moment deviation correction value based on the deviation of the heading angle and the target heading and the distance, the target heading being the direction from the current position to a navigation target point on the current route segment, calculating a next-moment rudder angle control value based on the next-moment deviation correction value, correcting the next-moment rudder angle control value to obtain an actual next-moment rudder angle control value, and performing navigation control on the ship based on the actual next-moment rudder angle control value;

[0054] In response to detecting that the current route segment of the ship is a broken line and the current position is on the current route segment, the coordinates of the turning start point and the turning end point on the current route segment are calculated according to the coordinates of the current route segment and the minimum turning radius of the ship, the ship is controlled to start from the turning start point and move in an arc with the minimum turning radius to the turning end point, and then the ship is controlled to continue sailing along the current route segment.

[0055] This invention introduces a proportional differential adjustment method for straight-line navigation. This method uses the deviation correction value between the current heading angle and the target heading when true north is 0 degrees to control and adjust the ship's rudder angle, allowing the ship to quickly converge to the target route. During zigzag navigation, this method uses an arc segment insertion method. Based on the ship's minimum turning radius, a circular arc segment tangent to two straight-line segments is inserted within the original zigzag segment to facilitate steering. These two methods optimize the ship's adherence to the preset route when moving along different routes.

[0056] Example 2.

[0057] The present invention provides a ship navigation control method, which specifically includes the following steps S1 to S5.

[0058] Step S1: Get the current position and heading angle of the ship.

[0059] Step S2: In response to detecting that the current route segment of the ship is a straight line and the current position is not on the current route segment, the distance between the current position and the current route segment is calculated, and the deviation correction value at the next moment is calculated based on the deviation of the heading angle and the target heading and the distance. The target heading is the direction from the current position to the navigation target point on the current route segment. The rudder angle control value at the next moment is calculated based on the deviation correction value at the next moment, and the rudder angle control value at the next moment is corrected to obtain the actual rudder angle control value at the next moment. The ship is navigated according to the actual rudder angle control value at the next moment.

[0060] In step S2, the deviation correction value at the next moment is calculated based on the deviation between the heading angle and the target heading and the distance, using the following formula:

[0061] ;

[0062] ;

[0063] in, is the deviation correction value at the next moment, is the heading correction value, is the length of the unit arc, where:

[0064] ;

[0065] ;

[0066] in, is the current heading angle of the ship, For the target heading, is the distance correction value, where:

[0067] ;

[0068] in, is the normalized value of the angle between the first vector and the second vector. The first vector is the vector from the starting point of the current route segment to the current position, and the second vector is the vector from the starting point of the current route segment to the end point of the current route segment. is the distance adjustment value, where:

[0069] ;

[0070] in, is the distance between the current position and the current route segment, is the preset speed proportional change coefficient, is the velocity component of the ship at the current moment perpendicular to the current route segment, It is a preset constant parameter.

[0071] In step S2, the rudder angle control value at the next moment is calculated according to the deviation correction value, using the following formula:

[0072] ;

[0073] in, is the rudder angle control value at the next moment, K p is the preset proportional change coefficient, is the deviation correction value at the next moment, K d is the preset differential variation coefficient, It is the difference between the deviation correction value at the next moment and the deviation correction value at the current moment.

[0074] In step S2, the rudder angle control value at the next moment is corrected to obtain the actual rudder angle control value at the next moment, including:

[0075] First, the rudder angle control value at the next moment is corrected for the first time using the following formula so that the rudder angle control value does not exceed the maximum rudder angle control value:

[0076] ;

[0077] Then, the rudder angle control value at the next moment is corrected for the second time using the following formula to obtain the actual rudder angle control value at the next moment, so that the difference between the rudder angle control value at the current moment and the rudder angle control value at the next moment is not greater than the rudder angle change rate:

[0078] ;

[0079] in, is the rudder angle control value at the next moment, is the actual rudder angle control value at the next moment, is the rudder angle control value at the current moment, is the maximum value of the preset rudder angle control value, is the rate of change of the rudder angle, is the unit time step.

[0080] Step S3: In response to detecting that the current route segment of the ship is a straight line and the current position is on the current route segment, controlling the ship to continue sailing along the current route segment.

[0081] Step S4: In response to detecting that the current route segment of the ship is a broken line and the current position is on the current route segment, the coordinates of the turning start point and the turning end point on the current route segment are calculated according to the coordinates of the current route segment and the minimum turning radius of the ship, the ship is controlled to start from the turning start point and move in an arc with the minimum turning radius to the turning end point, and then the ship is controlled to continue sailing along the current route segment.

[0082] During the arc motion process of step S4, the rudder angle control value of the ship is always controlled to be the maximum value of the preset rudder angle control value, which can ensure that the ship moves in an arc with a minimum turning radius.

[0083] Step S5: In response to detecting that the current route segment of the ship is a broken line and the current position is not on the current route segment, the minimum distance between the current position and the current route segment is calculated, and the deviation correction value at the next moment is calculated based on the deviation between the heading angle and the target heading and the minimum distance. The target heading is the direction from the current position to the navigation target point on the current route segment. The rudder angle control value at the next moment is calculated based on the deviation correction value at the next moment, and the rudder angle control value at the next moment is corrected to obtain the actual rudder angle control value at the next moment. The ship is navigated according to the actual rudder angle control value at the next moment until the ship sails to the current route segment.

[0084] When navigating a broken line, since there are two distances between the current position and the current route segment, the minimum distance should be taken. First, the ship is allowed to navigate to the current route segment, and then the ship is controlled to perform the arc motion described in step S4 from the starting point to the end point of the turn.

[0085] Example 3.

[0086] like Figure 2 As shown, the present invention provides a ship navigation control method, which is specifically implemented by first performing simulation control on a model (a virtual model constructed based on an actual ship) in a ship dynamic positioning system to verify its effect, and then applying it to actual ship navigation control.

[0087] Dynamic positioning (DP) technology is a high-tech technology that has gradually developed for marine development and is increasingly being applied to ships and offshore platforms. A DP system is a closed-loop control system that, when a ship is subject to external disturbances, uses the thrust generated solely by its own propellers to counteract these disturbances, maintaining the ship's desired position and heading, or precisely moving along a predetermined path. Specifically, DP technology involves using sophisticated instruments to measure changes in the ship's position and heading caused by external disturbances, rather than anchoring. A computer control system then processes this information and calculates the thrust and torque generated by the propellers. Ultimately, the propellers are used to maintain the ship's desired position and heading, or to precisely follow a predetermined path. DP systems operate in all water depths and require no additional equipment for positioning operations. They offer excellent maneuverability and high positioning accuracy.

[0088] like Figure 5 As shown in the figure, a ship's dynamic positioning system generally consists of a control system, a sensor system, and a thruster system. The sensor system is generally used to measure the ship's position, heading, attitude angle, and certain environmental variables. The control system is the core of the dynamic positioning system. It first filters the measured ship's position and heading and estimates the ship's motion speed. It then calculates the force acting on the ship based on external environmental conditions. Finally, based on this force and the estimated ship's position and speed, it calculates the force required to maintain the ship's position, that is, the resultant force generated by the thruster system. The thruster system generates thrust to achieve positioning operations, and ships are generally equipped with multiple thrusters.

[0089] The motion of a ship in the ocean is characterized by nonlinearity, model parameter uncertainty, and disturbances, making it a typical example of uncertain nonlinear motion. Therefore, a reliable control strategy is required to ensure that the ship's dynamic positioning system operates continuously and stably in a continuously changing ocean environment according to test requirements.

[0090] The model moves along a pre-set route, which consists of a set of coordinate points on a map. The model moves towards each of these coordinate points in sequence. A line segment connecting two adjacent coordinate points is called a route segment, and all route segments formed by connecting all coordinate points in sequence form a continuous route. Routes are entirely composed of straight line segments.

[0091] In this example, straight-line navigation is optimized first. During straight-line navigation, the model's motion can be viewed as moving from its own point to the next target point. The model operates similarly to actual ship navigation on water. Due to currents and wind, the model's bow angle deviates from the actual motion angle. The model also experiences a certain lag in the actual feedback of the heading change angle due to inertia.

[0092] Generally, the model is not on the route at the beginning of the movement, and it is necessary to control the model's steering movement by controlling the model's rudder angle to gradually approach the route. Under ideal conditions, without considering external factors, the model should gradually approach the route with a suitable linear change in the direction perpendicular to the route until the angle between the heading and the model's movement direction is 0, and then it will move in a straight line to the target point. During the movement, the feedback adjustment direction of the rudder angle is opposite to the heading direction, and the change relationship is as follows:

[0093] ;

[0094] in, is the rudder angle control value at the current moment, is the preset proportional change coefficient, which is set to 10 in this embodiment. is the deviation correction value at the current moment.

[0095] The deviation correction value is calculated by the following method: the distance between the current position and the current route segment is calculated, and the deviation correction value at the next moment is calculated based on the deviation and distance between the heading angle and the target heading. The target heading is the direction from the current position to the navigation target point on the current route segment.

[0096] The specific calculation formula for the deviation correction value at the next moment is:

[0097] ;

[0098] ;

[0099] in, is the deviation correction value at the next moment, is the heading correction value, is the length of the unit arc, where:

[0100] ;

[0101] ;

[0102] in, is the current heading angle of the ship, For the target heading, is the distance correction value, where:

[0103] ;

[0104] in, is the normalized value of the angle between the first vector and the second vector. The first vector is the vector from the starting point of the current route segment to the current position, and the second vector is the vector from the starting point of the current route segment to the end point of the current route segment. is the distance adjustment value, where:

[0105] ;

[0106] in, is the distance between the current position and the current route segment, is the preset speed proportional change coefficient, which can be set to 1 in this embodiment. is the velocity component of the ship at the current moment perpendicular to the current route segment, It is a preset constant parameter and can be set to 90 in this embodiment.

[0107] In an ideal situation without considering external factors, the model will move in a straight line to the target point on the current route segment (such as Figure 3 A2) movement in.

[0108] During actual movement, due to inertia and resistance, the model movement will become a curve. The direct control value in the model direction is the rudder angle, and the final control value is the bow direction. Affected by external conditions, the control amount and the final change amount cannot be accurately measured. The PID control method is suitable for this control scenario. Compared with the proportional control effect, the differential control produces a control effect based on the deviation change trend, and thus has the nature of "pre-control". Therefore, in order to achieve the adjustment effect of the model movement position quickly converging to the route, the present invention adopts proportional differential correction control to shorten the time required for the route to converge to the target route. The change relationship is as follows:

[0109] ;

[0110] in, is the differential variation coefficient, which is set to 10 in this embodiment. It is the difference between the current deviation correction value and the previous deviation correction value.

[0111] On this basis, the rudder angle control value at the current moment needs to meet two constraints:

[0112] First, the current rudder angle control value It should not be greater than the preset maximum value of the rudder angle control value and be corrected using the following formula:

[0113] ;

[0114] in, is the maximum value of the preset rudder angle control value. In this embodiment, it is set to 30, indicating that the rudder movement range is -30° to 30°;

[0115] Second, the current rudder angle control value and the rudder angle control value at the next moment The difference should not be greater than the rudder angle change rate , corrected by the following formula:

[0116] ;

[0117] in, is the rate of change of the rudder angle per unit time step The meaning is unit time step The maximum change of the lower rudder angle.

[0118] like Figure 3 As shown in the figure, under the same starting point, the control effects of different control methods are clearly demonstrated; For a period from arrive The straight line segment, the dotted line is the model outside the route segment approaching the target point Movement trajectory. (a) shows the effect of moving directly to the target point without any processing, (b) shows the effect of only proportional adjustment, and (c) shows the effect of proportional and differential adjustment.

[0119] The present invention uses a proportional differential method to adjust the control relationship between the rudder angle and the heading, and adjusts the deviation correction value according to the target heading angle and the distance between the current model and the route segment. .

[0120] In this embodiment, after optimizing the straight-line navigation, the broken-line navigation is optimized again: when navigating along a broken line, the current route is a broken line composed of two straight-line route segments. When the model actually navigates along the broken line, it cannot turn directly at the bend. In order to fit the route as closely as possible, the present invention uses a method of inserting a new segment, inserting an arc tangent to the straight lines on both sides in the middle of the broken line segment. When the model moves to the first tangent point, it starts to move in a circle along the arc, and when it reaches the next tangent point, it ends the circular motion and turns into a straight-line motion. The arc radius of the model's turn is the model's own minimum turning radius, and the effect is as follows: Figure 4 shown.

[0121] Figure 4 middle, It is a broken line route composed of two straight line segments. Towards Movement process When no longer Instead of moving in a straight line, start Towards Make arc movements, The radius is the arc of the model's minimum turning radius, which ensures that the model will enter the next segment as quickly as possible with its maximum turning ability. Then re- Make a straight line motion.

[0122] In this case, it is known 、 Coordinates and turning radius , which can actually be transformed into the problem of finding the tangent point between a circle and two straight lines. The formula from point to straight line can be obtained and The coordinates of the model can be solved by conventional geometric knowledge. The theoretical broken line route of the model can be approximately replaced by a straight line-circular arc-straight line route, that is:

[0123] .

[0124] When making an arc movement, the ship moves in an arc with the minimum turning radius, so C will always maintain the maximum control value .

[0125] Combining all the above analysis and deductions, this embodiment can be summarized as follows: Figure 2 The method shown, its specific implementation includes the following straight line navigation part and broken line navigation part.

[0126] Straight line section:

[0127] 1. Pre-set the overall route, set the model's initial position, and start the model;

[0128] 2. The model navigates along each route segment in sequence according to the preset data, moving towards the terminal position of each route segment each time, and updating its own coordinate position and movement status every time interval;

[0129] 3. The model updates its own state and determines whether the current route segment is sailing in a straight line;

[0130] 4. If sailing in a straight line, calculate the difference between the model's current position coordinates and the straight-line distance of the current route segment;

[0131] 5. Taking true north as 0 degrees, calculate the difference between the model's current heading angle and the angle of the current route segment;

[0132] 6. Calculate the model's rudder angle control value at the next moment based on the difference between the model's current position coordinates and the straight-line distance of the current route segment, as well as the difference between the current motion heading angle and the angle of the current route segment;

[0133] 7. Compare the calculated model rudder angle control value at the next moment with the rudder angle limit value set by the limit setting to obtain the actual rudder angle control value of the model at the next moment;

[0134] 8. Calculate the model’s motion state at the next moment based on the model’s current motion state and control state.

[0135] Zigzag navigation part:

[0136] 1. Pre-set the overall route, set the model's initial position, and start the model;

[0137] 2. The model navigates along each route segment in sequence according to the preset data, moving towards the terminal position of each route segment each time, and updating its own coordinate position and movement status every time interval;

[0138] 3. Each time the model updates its state, it determines whether the current route segment is sailing along a broken line;

[0139] 4. If the route is a broken line, the model calculates the start and end points of the turn on the current and next segments based on the angle between the current segment and the next segment and its own turning radius;

[0140] 5. The model moves forward along the current segment until it reaches the turning starting point;

[0141] 6. After reaching the turning starting point, the model moves in an arc with the minimum turning radius (maximum rudder angle value) and updates its own motion state and coordinate position;

[0142] 7. After the model reaches the end point of the turn, it resumes the straight-line motion mode, continues to move forward on the new segment, and updates its own motion state and coordinate position.

[0143] Example 4.

[0144] The present invention provides a ship navigation control device, comprising:

[0145] The navigation data acquisition module is configured to: obtain the current position and heading angle of the ship;

[0146] The straight-line navigation control module is configured to: in response to detecting that the current route segment of the ship is a straight line and the current position is not on the current route segment, calculate the distance between the current position and the current route segment, calculate a deviation correction value at a next moment based on the deviation between the heading angle and the target heading and the distance, the target heading being the direction from the current position to the navigation target point on the current route segment, calculate a rudder angle control value at a next moment based on the deviation correction value at a next moment, correct the rudder angle control value at a next moment to obtain an actual rudder angle control value at a next moment, and control the navigation of the ship based on the actual rudder angle control value at a next moment;

[0147] The discounted navigation module is configured to: in response to detecting that the current route segment of the ship is a broken line and the current position is on the current route segment, calculate the coordinates of the turning start point and the turning end point on the current route segment according to the coordinates of the current route segment and the minimum turning radius of the ship, control the ship to start from the turning start point and move in an arc with the minimum turning radius to the turning end point, and then control the ship to continue sailing along the current route segment.

[0148] Example 5.

[0149] The present invention provides a computer-readable storage medium having a computer program / instruction stored thereon, wherein when the computer program / instruction is executed by a processor, the steps of the ship navigation control method provided in Example 1 are implemented:

[0150] Get the current position and heading angle of the ship;

[0151] In response to detecting that the current route segment of the ship is a straight line and the current position is not on the current route segment, calculating the distance between the current position and the current route segment, calculating a deviation correction value at a next moment based on the deviation between the heading angle and the target heading and the distance, the target heading being the direction from the current position to a navigation target point on the current route segment, calculating a rudder angle control value at a next moment based on the deviation correction value at the next moment, correcting the rudder angle control value at the next moment to obtain an actual rudder angle control value at the next moment, and performing navigation control on the ship based on the actual rudder angle control value at the next moment;

[0152] In response to detecting that the current route segment of the ship is a broken line and the current position is on the current route segment, the coordinates of the turning start point and the turning end point on the current route segment are calculated according to the coordinates of the current route segment and the minimum turning radius of the ship, the ship is controlled to start from the turning start point and move in an arc with the minimum turning radius to the turning end point, and then the ship is controlled to continue sailing along the current route segment.

[0153] Example 6.

[0154] The present invention provides a computer device, comprising:

[0155] Memory, used to store computer programs / instructions;

[0156] A processor, configured to execute the computer program / instructions to implement the steps of the ship navigation control method provided in Example 1:

[0157] Get the current position and heading angle of the ship;

[0158] In response to detecting that the current route segment of the ship is a straight line and the current position is not on the current route segment, calculating the distance between the current position and the current route segment, calculating a deviation correction value at a next moment based on the deviation between the heading angle and the target heading and the distance, the target heading being the direction from the current position to a navigation target point on the current route segment, calculating a rudder angle control value at a next moment based on the deviation correction value at the next moment, correcting the rudder angle control value at the next moment to obtain an actual rudder angle control value at the next moment, and performing navigation control on the ship based on the actual rudder angle control value at the next moment;

[0159] In response to detecting that the current route segment of the ship is a broken line and the current position is on the current route segment, the coordinates of the turning start point and the turning end point on the current route segment are calculated according to the coordinates of the current route segment and the minimum turning radius of the ship, the ship is controlled to start from the turning start point and move in an arc with the minimum turning radius to the turning end point, and then the ship is controlled to continue sailing along the current route segment.

[0160] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0161] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0162] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0163] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0164] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A ship navigation control method, characterized in that: include: Get the current position and heading angle of the ship; In response to detecting that the current route segment of the ship is a straight line and the current position is not on the current route segment, the distance between the current position and the current route segment is calculated, the deviation correction value at the next moment is calculated according to the deviation of the heading angle and the target heading and the distance, the target heading is the direction from the current position to the navigation target point on the current route segment, the rudder angle control value at the next moment is calculated according to the deviation correction value at the next moment, the rudder angle control value at the next moment is corrected to obtain the actual rudder angle control value at the next moment, and the ship is controlled to navigate according to the actual rudder angle control value at the next moment; In response to detecting that the current route segment of the ship is a broken line and the current position is on the current route segment, the coordinates of the turning start point and the turning end point on the current route segment are calculated according to the coordinates of the current route segment and the minimum turning radius of the ship, the ship is controlled to start from the turning start point and move in an arc with the minimum turning radius to the turning end point, and then the ship is controlled to continue sailing along the current route segment.

2. The ship navigation control method according to claim 1, characterized in that: The deviation correction value at the next moment is calculated according to the deviation between the heading angle and the target heading and the distance, and is performed by the following formula: ； ； in, is the deviation correction value at the next moment, is the heading correction value, is the length of the unit arc, where: ； ； in, is the current heading angle of the ship, For the target heading, is the distance correction value, where: ； in, is the normalized value of the angle between the first vector and the second vector, the first vector is a vector pointing from the starting point of the current route segment to the current position, and the second vector is a vector pointing from the starting point of the current route segment to the end point of the current route segment, is the distance adjustment value, where: ； in, is the distance between the current position and the current route segment, is the preset speed proportional change coefficient, is the velocity component of the ship at the current moment in the direction perpendicular to the current route segment, It is a preset constant parameter.

3. The ship navigation control method according to claim 1, characterized in that: The calculation of the rudder angle control value at the next moment according to the deviation correction value is performed by the following formula: ； in, is the rudder angle control value at the next moment, K p is the preset proportional change coefficient, is the deviation correction value at the next moment, K d is the preset differential coefficient of variation, It is the difference between the deviation correction value at the next moment and the deviation correction value at the current moment.

4. The ship navigation control method according to claim 1, characterized in that: The step of correcting the rudder angle control value at the next moment to obtain the actual rudder angle control value at the next moment includes: First, the rudder angle control value at the next moment is corrected for the first time using the following formula so that the rudder angle control value does not exceed the maximum value of the rudder angle control value: ； Then, the rudder angle control value at the next moment is corrected for the second time by the following formula to obtain the actual rudder angle control value at the next moment, so that the difference between the rudder angle control value at the current moment and the rudder angle control value at the next moment is not greater than the rudder angle change rate: ； in, is the rudder angle control value at the next moment, is the actual rudder angle control value at the next moment, is the rudder angle control value at the current moment, is the maximum value of the preset rudder angle control value, is the rate of change of the rudder angle, is the unit time step.

5. The ship navigation control method according to claim 1, characterized in that: In the process of controlling the ship to make an arc motion with a minimum turning radius from the turning starting point to the turning ending point, the rudder angle control value of the controlled ship is always the maximum value of the preset rudder angle control value.

6. The ship navigation control method according to claim 1, characterized in that: After the step of obtaining the current position and heading angle of the ship, the method further includes: In response to detecting that the current route segment of the ship is a straight line and the current position is on the current route segment, the ship is controlled to continue sailing along the current route segment.

7. The ship navigation control method according to claim 1, characterized in that: After the step of obtaining the current position and heading angle of the ship, the method further includes: In response to detecting that the current route segment of the ship is a broken line and the current position is not on the current route segment, the minimum distance between the current position and the current route segment is calculated, and the deviation correction value at the next moment is calculated according to the deviation of the heading angle and the target heading and the minimum distance, the target heading is the direction from the current position to the navigation target point on the current route segment, and the rudder angle control value at the next moment is calculated according to the deviation correction value at the next moment, and the rudder angle control value at the next moment is corrected to obtain the actual rudder angle control value at the next moment, and the ship is navigated according to the actual rudder angle control value at the next moment until the ship sails to the current route segment.

8. A ship navigation control device, characterized in that: include: The navigation data acquisition module is configured to: acquire the current position and heading angle of the ship; The straight-line navigation control module is configured to: in response to detecting that the current route segment of the ship is a straight line and the current position is not on the current route segment, calculate the distance between the current position and the current route segment, calculate the deviation correction value at the next moment according to the deviation between the heading angle and the target heading and the distance, the target heading is the direction from the current position to the navigation target point on the current route segment, calculate the rudder angle control value at the next moment according to the deviation correction value at the next moment, correct the rudder angle control value at the next moment to obtain the actual rudder angle control value at the next moment, and control the navigation of the ship according to the actual rudder angle control value at the next moment; The discounted navigation module is configured as follows: in response to detecting that the current route segment of the ship is a broken line and the current position is on the current route segment, the coordinates of the turning start point and the turning end point on the current route segment are calculated according to the coordinates of the current route segment and the minimum turning radius of the ship, the ship is controlled to start from the turning start point and move in an arc with the minimum turning radius to the turning end point, and then the ship is controlled to continue to sail along the current route segment.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the ship navigation control method according to any one of claims 1 to 7 are implemented.

10. A computer device, characterized in that: include: Memory, for storing computer programs / instructions; A processor, configured to execute the computer program / instructions to implement the steps of the ship navigation control method according to any one of claims 1 to 7.

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