Engineering ship sailing direction control system and method based on four-anchor positioning

Abstract

The invention discloses an engineering ship sailing direction control system and method based on four-anchor positioning, and relates to the technical field of ship sailing direction control. The position information of the engineering ship is longitude and latitude information of a center point of the engineering ship; plane operation planning is performed based on the engineering ship position information, an engineering ship operation planning area is determined, and the ship operation initial position is regulated and controlled; the working area of the engineering ship is analyzed to determine the position information of the positioning anchor points of the engineering ship, the working dynamic change condition of the anchor chains corresponding to the anchor points is analyzed by combining the working control angle interval of the engineering ship, and a working control scheme of the engineering ship is planned; the real-time position information of the engineering ship is fed back, and operation execution is conducted on the engineering ship according to the operation control scheme; according to the invention, the operation position of the engineering ship is determined in real time, and the anchor chain is regulated and controlled according to operation requirements after accurate anchor point positioning, so that automatic accurate direction regulation and control of the operation ship are realized.

Description

Technical Field

[0001] The invention relates to the field of ship navigation direction control, and in particular to a navigation direction control system and method for an engineering ship based on four-anchor positioning. Background Art

[0002] The use of four-anchor positioning to control the navigation direction of engineering ships is to arrange four anchor points around the hull and accurately control the tension and length of the anchor chain to achieve precise positioning and direction control of the engineering ship in the water, ensure the smooth progress of engineering operations, and improve operational efficiency and safety; the demand for navigation or operations in waters is gradually increasing, and the requirements for accuracy and stability of engineering ships in water operations are gradually increasing. At this stage, when engineering ships are operating in waters, operators are required to adjust the engineering ships in real time according to operational needs. This is too dependent on the experience of operators and cannot respond to the status of the engineering ships in real time, which is not conducive to the efficient development of operations. Summary of the invention

[0003] The object of the present invention is to provide a navigation direction control system and method for an engineering vessel based on four-anchor positioning, so as to solve the problems raised in the prior art.

[0004] To achieve the above object, the present invention provides the following technical solutions: A method for controlling the navigation direction of an engineering ship based on four-anchor positioning, the method comprising the following steps: S100, obtaining real-time engineering ship location information; the engineering ship location information is the latitude and longitude information of the center point of the engineering ship; S200, performing plane operation planning based on the position information of the engineering ship, determining the operation planning area of ​​the engineering ship, and adjusting the initial operation position of the ship; S300, analyzing the operation area of ​​the engineering ship to determine the position information of the anchor point of the engineering ship, analyzing the dynamic change of the anchor chain operation corresponding to each anchor point in combination with the operation control angle range of the engineering ship, and planning the operation control plan of the engineering ship; S400: Feedback the real-time position information of the engineering vessel, and execute the operation on the engineering vessel according to the operation control plan.

[0005] The specific steps of S100 are as follows: S101, acquiring the real-time position information of the engineering ship based on the engineering ship positioning device, and visually displaying it through longitude and latitude; the engineering ship positioning device includes a positioning system GPS or Beidou system; S102, constructing a coordinate plane to transform the position information of the engineering ship, with the center position of the engineering ship as the coordinate origin; wherein the coordinate system is determined with the center axis of the engineering ship as the longitudinal axis.

[0006] The specific steps of S200 are as follows: S201, obtaining the position information of the engineering ship's operating area according to the engineering ship's operating task information, and marking the engineering ship's operating area based on the coordinate plane; the engineering ship's operating area position information determines the operating area range through the operating task data to obtain a closed plane area corresponding to the operating area; S202. By determining the coordinate information of each point in the working area in the coordinate plane, the working area is completely surrounded by constructing a circumscribed circle, and the coordinate information of the center of the circumscribed circle corresponding to the working area is determined, and the coordinate information of the center position of the engineering vessel is controlled to be consistent with the coordinate information of the center of the circumscribed circle, so as to determine the initial working position of the engineering vessel.

[0007] The specific steps of S300 are as follows: S301. Based on the engineering ship coordinate plane, the initial coordinate position of the engineering ship is connected with the circumscribed circle of the operation area through full line segment connection, the intersection point between the center point of the engineering ship and the line segment connecting each point of the circumscribed circle and the boundary of the actual operation area of ​​the engineering ship is determined, and the intersection distance data between each intersection point and the center point of the engineering ship is obtained; the intersection distances corresponding to each intersection point are sorted in descending order from large to small, and the intersection points corresponding to the maximum intersection distance data in the left front, right front, left rear and right rear areas in the engineering ship coordinate plane are respectively determined as the current engineering ship operation positioning anchor point; the coordinate information of the four engineering ship positioning anchor points is analyzed respectively, and the calculation formula is: ; Among them, (X1, Y1) is the coordinate of the anchor point in the left front of the engineering ship, (X2, Y2) is the coordinate of the anchor point in the right front of the engineering ship; (X3, Y3) is the coordinate of the anchor point in the left rear of the engineering ship; (X1, Y1) is the coordinate of the anchor point in the right rear of the engineering ship; (X0, Y0) is the coordinate of the center point of the engineering ship; S1, S2, S3, S4 are the maximum values ​​of the intersection distance data in the left front, right front, left rear and right rear areas in the corresponding engineering ship coordinate plane; β is the angle between the intersection point and the connecting line of the center point of the engineering ship and the center axis of the engineering ship; S302, combining the current anchor point positioning coordinate information of the engineering ship, dropping anchor chain on the engineering ship, and analyzing the length of anchor chain dropped at the initial position of the engineering ship, the calculation formula is: ; Among them, L1, L2, L3, L4 correspond to the initial anchor chain lengths of the anchor points in the left front, right front, left rear and right rear areas in the engineering ship coordinate plane respectively; H is the water depth; By retrieving the current engineering ship operation task information to determine the single engineering ship operation coverage angle data, the corresponding bow angle control range of the engineering ship to complete the task is obtained; the changes in the anchor chain connected to the anchor point corresponding to the bow control angle of each engineering ship operation are analyzed respectively, and the calculation formula is: ; Wherein, ΔL(α) is the length change of the anchor chain connected to the anchor point corresponding to the engineering ship's operating bow control angle α; L1' is the length of the anchor chain connected to the anchor point in front of the engineering ship after the change of the anchor chain corresponding to the engineering ship's operating bow control angle α; S1' is the length of the distance after the change of the intersection distance in the left front area in the engineering ship's coordinate plane; α is the engineering ship's operating bow control angle; wherein, since the engineering ship is a whole, when the angle of its bow changes and causes the length of the anchor chain to change, its length change in the left front, right front, left rear and right rear directions is consistent; when the angle change of the engineering ship's bow corresponds to the initial position of the engineering ship to the left, the angle is negative, and vice versa, the angle is positive to the right; wherein, according to the different control directions of the engineering ship's bow, the change of each anchor chain is also different, including two states of extension and shortening; Based on the anchor point position information of the engineering ship and the anchor chain length control data corresponding to the bow angle control of the operating ship, the bow angle of the engineering ship and the corresponding anchor chain control data plan are planned for the changes of the anchor chain during the operation of the engineering ship.

[0008] The steps of S400 are as follows: feedback the real-time position information of the engineering vessel, and execute the operation of the engineering vessel according to the operation control plan. S401, feedback the position information of the engineering vessel in real time through the visualization port; S402, according to the engineering ship operation task information, the actual operation is implemented by executing the engineering ship bow angle and corresponding anchor chain change data control plan.

[0009] A navigation direction control system for an engineering ship based on four-anchor positioning, the system comprising a position acquisition module, an operation area determination module, an operation control module and an implementation execution module; The position acquisition module acquires real-time engineering ship position information; the engineering ship position information is the latitude and longitude information of the center point of the engineering ship; the operation area determination module performs plane operation planning based on the engineering ship position information, determines the engineering ship operation planning area, and adjusts the initial operation position of the ship; the operation control module analyzes the engineering ship operation area to determine the position information of the engineering ship's positioning anchor point, combines the engineering ship's operation control angle range, analyzes the dynamic changes of the anchor chain operation corresponding to each anchor point, and plans the engineering ship operation control plan; the implementation execution module feeds back the real-time position information of the engineering ship, and executes the operation of the engineering ship according to the operation control plan.

[0010] The position acquisition module includes an engineering ship positioning unit and a coordinate plane construction unit; The engineering ship positioning unit acquires the real-time position information of the engineering ship based on the engineering ship positioning device and displays it visually through longitude and latitude; The coordinate plane construction unit constructs a coordinate plane to perform coordinate transformation on the position information of the engineering ship, with the center position of the engineering ship as the coordinate origin.

[0011] The operation area determination module includes an operation area determination unit and an engineering vessel operation position determination unit; The operation area determination unit obtains the location information of the operation area of ​​the engineering ship according to the operation task information of the engineering ship, and marks the operation area of ​​the engineering ship based on the coordinate plane; The engineering ship operation position determination unit determines the coordinate information of each point in the operation area in the coordinate plane, constructs a circumscribed circle to completely surround the operation area, determines the center coordinate information of the circumscribed circle corresponding to the operation area, controls the coordinate information of the center position of the engineering ship to be consistent with the center coordinate information of the circumscribed circle, and determines the initial operation position of the engineering ship.

[0012] The operation control module includes an engineering ship anchor point determination unit and an operation control analysis unit; The engineering ship anchor point determination unit is based on the engineering ship coordinate plane, connects the initial coordinate position of the engineering ship with the circumscribed circle of the operation area through full line segments, determines the intersection points of the line segments connecting the center point of the engineering ship and each point of the circumscribed circle with the boundary of the actual operation area of ​​the engineering ship, and obtains the intersection distance data of each intersection point and the center point of the engineering ship; sorts the intersection distances corresponding to each intersection point in descending order from large to small, and respectively determines the intersection points corresponding to the maximum intersection distance data in the left front, right front, left rear and right rear areas in the engineering ship coordinate plane as the current engineering ship operation positioning anchor point; and analyzes the coordinate information of the four engineering ship positioning anchor points respectively; The operation control and analysis unit deploys anchor chains to the engineering ship in combination with the current anchor point positioning coordinate information of the engineering ship, and analyzes the length of the anchor chains deployed at the initial position of the engineering ship; determines the angle data of a single engineering ship operation coverage by retrieving the current engineering ship operation task information, and obtains the bow angle control range interval corresponding to the completion of the engineering ship task; analyzes the changes in the anchor chain connected to the anchor point corresponding to the operating bow control angle of each engineering ship; and plans the bow angle of the engineering ship and the corresponding control data of each anchor chain for the changes in the anchor chain during the operation of the engineering ship based on the engineering ship anchor point position information and the anchor chain length control data corresponding to the operating bow angle control.

[0013] The implementation execution module includes an engineering vessel position output unit and an operation planning implementation unit; The engineering vessel position output unit feeds back the engineering vessel position information in real time through a visualization port; The operation planning implementation unit implements the actual operation according to the operation task information of the engineering ship by executing the control plan of the engineering ship's bow angle and the corresponding anchor chain change data.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention obtains the real-time position information of the engineering vessel through the engineering vessel positioning system; determines the engineering vessel's operating area through the operating task, and determines the initial operating position of the engineering vessel by planning the operating area; constructs a coordinate plane based on the initial operating position to determine the positioning anchor point position information of the engineering vessel; analyzes the change of the corresponding control angle of each anchor point according to the operating angle control data of the engineering vessel, and formulates the engineering vessel operation control plan based on the control data; the present invention realizes the real-time determination of the operating position of the engineering vessel, and after accurate anchor point positioning, the anchor chain is controlled according to the operating requirements to realize automatic and accurate direction control of the operating vessel, thereby improving the operating efficiency and intelligence of the engineering vessel. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The present invention is a structural schematic diagram of a navigation direction control system for an engineering vessel based on four-anchor positioning. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] Example: Figure 1 As shown, the present invention provides a technical solution: A method for controlling the navigation direction of an engineering ship based on four-anchor positioning, the method comprising the following steps: S100, obtaining real-time engineering ship location information; the engineering ship location information is the latitude and longitude information of the center point of the engineering ship; S200, performing plane operation planning based on the position information of the engineering ship, determining the operation planning area of ​​the engineering ship, and adjusting the initial operation position of the ship; S300, analyzing the operation area of ​​the engineering ship to determine the position information of the anchor point of the engineering ship, analyzing the dynamic change of the anchor chain operation corresponding to each anchor point in combination with the operation control angle range of the engineering ship, and planning the operation control plan of the engineering ship; S400: Feedback the real-time position information of the engineering vessel, and execute the operation on the engineering vessel according to the operation control plan.

[0018] The specific steps of S100 are as follows: S101, acquiring the real-time position information of the engineering vessel based on the engineering vessel positioning device, and visually displaying it through longitude and latitude; S102, constructing a coordinate plane to transform the position information of the engineering ship, with the center position of the engineering ship as the coordinate origin.

[0019] The specific steps of S200 are as follows: S201, obtaining the location information of the engineering ship operation area according to the engineering ship operation task information, and marking the engineering ship operation area based on the coordinate plane; S202. By determining the coordinate information of each point in the working area in the coordinate plane, the working area is completely surrounded by constructing a circumscribed circle, and the coordinate information of the center of the circumscribed circle corresponding to the working area is determined, and the coordinate information of the center position of the engineering vessel is controlled to be consistent with the coordinate information of the center of the circumscribed circle, so as to determine the initial working position of the engineering vessel.

[0020] The specific steps of S300 are as follows: S301. Based on the engineering ship coordinate plane, the initial coordinate position of the engineering ship is connected with the circumscribed circle of the operation area through full line segment connection, the intersection point between the center point of the engineering ship and the line segment connecting each point of the circumscribed circle and the boundary of the actual operation area of ​​the engineering ship is determined, and the intersection distance data between each intersection point and the center point of the engineering ship is obtained; the intersection distances corresponding to each intersection point are sorted in descending order from large to small, and the intersection points corresponding to the maximum intersection distance data in the left front, right front, left rear and right rear areas in the engineering ship coordinate plane are respectively determined as the current engineering ship operation positioning anchor point; the coordinate information of the four engineering ship positioning anchor points is analyzed respectively, and the calculation formula is: ; Among them, (X1, Y1) is the coordinate of the anchor point in the left front of the engineering ship, (X2, Y2) is the coordinate of the anchor point in the right front of the engineering ship; (X3, Y3) is the coordinate of the anchor point in the left rear of the engineering ship; (X1, Y1) is the coordinate of the anchor point in the right rear of the engineering ship; (X0, Y0) is the coordinate of the center point of the engineering ship; S1, S2, S3, S4 are the maximum values ​​of the intersection distance data in the left front, right front, left rear and right rear areas in the corresponding engineering ship coordinate plane; β is the angle between the intersection point and the connecting line of the center point of the engineering ship and the center axis of the engineering ship; S302, combining the current anchor point positioning coordinate information of the engineering ship, dropping anchor chain on the engineering ship, and analyzing the length of anchor chain dropped at the initial position of the engineering ship, the calculation formula is: ; Among them, L1, L2, L3, L4 correspond to the initial anchor chain lengths of the anchor points in the left front, right front, left rear and right rear areas in the engineering ship coordinate plane respectively; H is the water depth; By retrieving the current engineering ship operation task information to determine the single engineering ship operation coverage angle data, the corresponding bow angle control range of the engineering ship to complete the task is obtained; the changes in the anchor chain connected to the anchor point corresponding to the bow control angle of each engineering ship operation are analyzed respectively, and the calculation formula is: ; Among them, ΔL(α) is the change length of the anchor chain connected to the anchor point corresponding to the engineering ship's operating bow control angle α; L1' is the length of the anchor chain connected to the anchor point in the left front of the engineering ship after the change corresponding to the engineering ship's operating bow control angle α; S1' is the distance length after the change of the handover distance in the left front area in the engineering ship's coordinate plane; α is the engineering ship's operating bow control angle; Based on the anchor point position information of the engineering ship and the anchor chain length control data corresponding to the bow angle control of the operating ship, the bow angle of the engineering ship and the corresponding anchor chain control data plan are planned for the changes of the anchor chain during the operation of the engineering ship.

[0021] The steps of S400 are as follows: feedback the real-time position information of the engineering vessel, and execute the operation of the engineering vessel according to the operation control plan. S401, feedback the position information of the engineering vessel in real time through the visualization port; S402, according to the engineering ship operation task information, the actual operation is implemented by executing the engineering ship bow angle and corresponding anchor chain change data control plan.

[0022] A navigation direction control system for an engineering ship based on four-anchor positioning, the system comprising a position acquisition module, an operation area determination module, an operation control module and an implementation execution module; The position acquisition module acquires real-time engineering ship position information; the engineering ship position information is the latitude and longitude information of the center point of the engineering ship; the operation area determination module performs plane operation planning based on the engineering ship position information, determines the engineering ship operation planning area, and adjusts the initial operation position of the ship; the operation control module analyzes the engineering ship operation area to determine the position information of the engineering ship's positioning anchor point, combines the engineering ship's operation control angle range, analyzes the dynamic changes of the anchor chain operation corresponding to each anchor point, and plans the engineering ship operation control plan; the implementation execution module feeds back the real-time position information of the engineering ship, and executes the operation of the engineering ship according to the operation control plan.

[0023] The position acquisition module includes an engineering ship positioning unit and a coordinate plane construction unit; The engineering ship positioning unit acquires the real-time position information of the engineering ship based on the engineering ship positioning device and displays it visually through longitude and latitude; The coordinate plane construction unit constructs a coordinate plane to perform coordinate transformation on the position information of the engineering ship, with the center position of the engineering ship as the coordinate origin.

[0024] The operation area determination module includes an operation area determination unit and an engineering vessel operation position determination unit; The operation area determination unit obtains the location information of the operation area of ​​the engineering ship according to the operation task information of the engineering ship, and marks the operation area of ​​the engineering ship based on the coordinate plane; The engineering ship operation position determination unit determines the coordinate information of each point in the operation area in the coordinate plane, constructs a circumscribed circle to completely surround the operation area, determines the center coordinate information of the circumscribed circle corresponding to the operation area, controls the coordinate information of the center position of the engineering ship to be consistent with the center coordinate information of the circumscribed circle, and determines the initial operation position of the engineering ship.

[0025] The operation control module includes an engineering ship anchor point determination unit and an operation control analysis unit; The engineering ship anchor point determination unit is based on the engineering ship coordinate plane, connects the initial coordinate position of the engineering ship with the circumscribed circle of the operation area through full line segments, determines the intersection points of the line segments connecting the center point of the engineering ship and each point of the circumscribed circle with the boundary of the actual operation area of ​​the engineering ship, and obtains the intersection distance data of each intersection point and the center point of the engineering ship; sorts the intersection distances corresponding to each intersection point in descending order from large to small, and respectively determines the intersection points corresponding to the maximum intersection distance data in the left front, right front, left rear and right rear areas in the engineering ship coordinate plane as the current engineering ship operation positioning anchor point; and analyzes the coordinate information of the four engineering ship positioning anchor points respectively; The operation control and analysis unit deploys anchor chains to the engineering ship in combination with the current anchor point positioning coordinate information of the engineering ship, and analyzes the length of the anchor chains deployed at the initial position of the engineering ship; determines the angle data of a single engineering ship operation coverage by retrieving the current engineering ship operation task information, and obtains the bow angle control range interval corresponding to the completion of the engineering ship task; analyzes the changes in the anchor chain connected to the anchor point corresponding to the operating bow control angle of each engineering ship; and plans the bow angle of the engineering ship and the corresponding control data of each anchor chain for the changes in the anchor chain during the operation of the engineering ship based on the engineering ship anchor point position information and the anchor chain length control data corresponding to the operating bow angle control.

[0026] The implementation execution module includes an engineering vessel position output unit and an operation planning implementation unit; The engineering vessel position output unit feeds back the engineering vessel position information in real time through a visualization port; The operation planning implementation unit implements the actual operation according to the operation task information of the engineering ship by executing the control scheme of the engineering ship's bow angle and the corresponding anchor chain change data; In the example: At present, a certain engineering vessel is equipped with the engineering vessel navigation direction control system based on four-anchor positioning of the present invention to control the direction of the engineering vessel operation; it obtains the real-time position information of the engineering vessel based on the engineering vessel positioning device, and displays it visually through longitude and latitude; constructs a coordinate plane to transform the position information of the engineering vessel, and takes the center position of the engineering vessel as the coordinate origin; According to the operation task information of the engineering ship, the position information of the operation area of ​​the engineering ship is obtained, and the operation area of ​​the engineering ship is marked based on the coordinate plane; in the coordinate plane, the coordinate information of each point in the operation area is determined, and the operation area is fully surrounded by constructing a circumscribed circle, and the coordinate information of the center of the circumscribed circle corresponding to the operation area is determined, and the coordinate information of the center position of the engineering ship is controlled to be consistent with the coordinate information of the center of the circumscribed circle, and the initial operation position of the engineering ship is determined; Based on the engineering ship coordinate plane, the initial coordinate position of the engineering ship is connected with the circumscribed circle of the operation area by full line segment connection, the intersection point between the center point of the engineering ship and the line segment connecting each point of the circumscribed circle and the boundary of the actual operation area of ​​the engineering ship is determined, and the intersection distance data between each intersection point and the center point of the engineering ship is obtained; the intersection distances corresponding to each intersection point are sorted in descending order from large to small, and the intersection points corresponding to the maximum intersection distance data in the left front, right front, left rear and right rear areas in the engineering ship coordinate plane are respectively determined as the current engineering ship operation positioning anchor point; the coordinate information of the four engineering ship positioning anchor points is analyzed respectively, and the calculation formula is: ; Combined with the current anchor point positioning coordinate information of the engineering ship, the anchor chain is deployed to the engineering ship, and the length of the anchor chain deployed at the initial position of the engineering ship is analyzed. The calculation formula is: ; By retrieving the current engineering ship operation task information to determine the single engineering ship operation coverage angle data, the corresponding bow angle control range of the engineering ship to complete the task is obtained; the changes in the anchor chain connected to the anchor point corresponding to the bow control angle of each engineering ship operation are analyzed respectively, and the calculation formula is: ; Based on the anchor point position information of the engineering ship and the anchor chain length control data corresponding to the bow angle control of the operation ship, the bow angle of the engineering ship and the corresponding anchor chain control data plan are planned according to the change of the anchor chain during the operation of the engineering ship; The position information of the engineering vessel is fed back in real time through the visualization port; according to the operation task information of the engineering vessel, the actual operation is implemented by executing the control plan of the engineering vessel's bow angle and the corresponding anchor chain change data.

[0027] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A method for controlling the navigation direction of an engineering ship based on four-anchor positioning, characterized in that: The method comprises the following steps: S100, obtaining real-time engineering ship location information; the engineering ship location information is the latitude and longitude information of the center point of the engineering ship; S200, performing plane operation planning based on the position information of the engineering ship, determining the operation planning area of ​​the engineering ship, and adjusting the initial operation position of the ship; S300, analyzing the operation area of ​​the engineering ship to determine the position information of the anchor point of the engineering ship, analyzing the dynamic change of the anchor chain operation corresponding to each anchor point in combination with the operation control angle range of the engineering ship, and planning the operation control plan of the engineering ship; S400: Feedback the real-time position information of the engineering vessel, and execute the operation on the engineering vessel according to the operation control plan.

2. The method for controlling the navigation direction of an engineering ship based on four-anchor positioning according to claim 1, characterized in that: The specific steps of S100 are as follows: S101, acquiring the real-time position information of the engineering vessel based on the engineering vessel positioning device, and visually displaying it through longitude and latitude; S102, constructing a coordinate plane to transform the position information of the engineering ship, with the center position of the engineering ship as the coordinate origin.

3. The method for controlling the navigation direction of an engineering ship based on four-anchor positioning according to claim 2, characterized in that: The specific steps of S200 are as follows: S201, obtaining the location information of the engineering ship operation area according to the engineering ship operation task information, and marking the engineering ship operation area based on the coordinate plane; S202. By determining the coordinate information of each point in the working area in the coordinate plane, the working area is completely surrounded by constructing a circumscribed circle, and the coordinate information of the center of the circumscribed circle corresponding to the working area is determined, and the coordinate information of the center position of the engineering vessel is controlled to be consistent with the coordinate information of the center of the circumscribed circle, so as to determine the initial working position of the engineering vessel.

4. The method for controlling the navigation direction of an engineering ship based on four-anchor positioning according to claim 3 is characterized in that: The specific steps of S300 are as follows: S301. Based on the engineering ship coordinate plane, the initial coordinate position of the engineering ship is connected with the circumscribed circle of the operation area through full line segment connection, the intersection point between the center point of the engineering ship and the line segment connecting each point of the circumscribed circle and the boundary of the actual operation area of ​​the engineering ship is determined, and the intersection distance data between each intersection point and the center point of the engineering ship is obtained; the intersection distances corresponding to each intersection point are sorted in descending order from large to small, and the intersection points corresponding to the maximum intersection distance data in the left front, right front, left rear and right rear areas in the engineering ship coordinate plane are respectively determined as the current engineering ship operation positioning anchor point; the coordinate information of the four engineering ship positioning anchor points is analyzed respectively, and the calculation formula is: ； Among them, (X1, Y1) is the coordinate of the anchor point in the left front of the engineering ship, (X2, Y2) is the coordinate of the anchor point in the right front of the engineering ship; (X3, Y3) is the coordinate of the anchor point in the left rear of the engineering ship; (X1, Y1) is the coordinate of the anchor point in the right rear of the engineering ship; (X0, Y0) is the coordinate of the center point of the engineering ship; S1, S2, S3, S4 are the maximum values ​​of the intersection distance data in the left front, right front, left rear and right rear areas in the corresponding engineering ship coordinate plane; β is the angle between the intersection point and the connecting line of the center point of the engineering ship and the center axis of the engineering ship; S302, combining the current anchor point positioning coordinate information of the engineering ship, dropping anchor chain on the engineering ship, and analyzing the length of anchor chain dropped at the initial position of the engineering ship, the calculation formula is: ； Among them, L1, L2, L3, L4 correspond to the initial anchor chain lengths of the anchor points in the left front, right front, left rear and right rear areas in the engineering ship coordinate plane respectively; H is the water depth; By retrieving the current engineering ship operation task information to determine the single engineering ship operation coverage angle data, the corresponding bow angle control range of the engineering ship to complete the task is obtained; the changes in the anchor chain connected to the anchor point corresponding to the bow control angle of each engineering ship operation are analyzed respectively, and the calculation formula is: ； Among them, ΔL(α) is the change length of the anchor chain connected to the anchor point corresponding to the engineering ship's operating bow control angle α; L1' is the length of the anchor chain connected to the anchor point in the left front of the engineering ship after the change corresponding to the engineering ship's operating bow control angle α; S1' is the distance length after the change of the handover distance in the left front area in the engineering ship's coordinate plane; α is the engineering ship's operating bow control angle; Based on the anchor point position information of the engineering ship and the anchor chain length control data corresponding to the bow angle control of the operating ship, the bow angle of the engineering ship and the corresponding anchor chain control data plan are planned for the changes of the anchor chain during the operation of the engineering ship.

5. The method for controlling the navigation direction of an engineering ship based on four-anchor positioning according to claim 4, characterized in that: The steps of S400 are as follows: feedback the real-time position information of the engineering vessel, and execute the operation of the engineering vessel according to the operation control plan. S401, feedback the position information of the engineering vessel in real time through the visualization port; S402, according to the engineering ship operation task information, the actual operation is implemented by executing the engineering ship bow angle and corresponding anchor chain change data control plan.

6. A navigation direction control system for an engineering vessel based on four-anchor positioning, characterized in that: The system includes a location acquisition module, an operation area determination module, an operation control module and an implementation execution module; The position acquisition module acquires real-time engineering ship position information; the engineering ship position information is the latitude and longitude information of the center point of the engineering ship; The operation area determination module performs plane operation planning based on the position information of the engineering ship, determines the operation planning area of ​​the engineering ship, and adjusts the initial operation position of the ship; The operation control module analyzes the operation area of ​​the engineering ship to determine the position information of the engineering ship's positioning anchor point, combines the engineering ship's operation control angle range, analyzes the dynamic changes of the anchor chain operation corresponding to each anchor point, and plans the engineering ship's operation control plan; the implementation execution module feeds back the real-time position information of the engineering ship, and executes the operation of the engineering ship according to the operation control plan.

7. The navigation direction control system for an engineering vessel based on four-anchor positioning according to claim 6, characterized in that: The position acquisition module includes an engineering ship positioning unit and a coordinate plane construction unit; The engineering ship positioning unit acquires the real-time position information of the engineering ship based on the engineering ship positioning device and displays it visually through longitude and latitude; The coordinate plane construction unit constructs a coordinate plane to perform coordinate transformation on the position information of the engineering ship, with the center position of the engineering ship as the coordinate origin.

8. The navigation direction control system for an engineering vessel based on four-anchor positioning according to claim 7, characterized in that: The operation area determination module includes an operation area determination unit and an engineering vessel operation position determination unit; The operation area determination unit obtains the location information of the operation area of ​​the engineering ship according to the operation task information of the engineering ship, and marks the operation area of ​​the engineering ship based on the coordinate plane; The engineering ship operation position determination unit determines the coordinate information of each point in the operation area in the coordinate plane, constructs a circumscribed circle to completely surround the operation area, determines the center coordinate information of the circumscribed circle corresponding to the operation area, controls the coordinate information of the center position of the engineering ship to be consistent with the center coordinate information of the circumscribed circle, and determines the initial operation position of the engineering ship.

9. The navigation direction control system for an engineering ship based on four-anchor positioning according to claim 8, characterized in that: The operation control module includes an engineering ship anchor point determination unit and an operation control analysis unit; The engineering ship anchor point determination unit is based on the engineering ship coordinate plane, connects the initial coordinate position of the engineering ship with the circumscribed circle of the operation area through full line segments, determines the intersection points of the line segments connecting the center point of the engineering ship and each point of the circumscribed circle with the boundary of the actual operation area of ​​the engineering ship, and obtains the intersection distance data of each intersection point and the center point of the engineering ship; sorts the intersection distances corresponding to each intersection point in descending order from large to small, and respectively determines the intersection points corresponding to the maximum intersection distance data in the left front, right front, left rear and right rear areas in the engineering ship coordinate plane as the current engineering ship operation positioning anchor point; and analyzes the coordinate information of the four engineering ship positioning anchor points respectively; The operation control and analysis unit combines the anchor point positioning coordinate information of the current engineering ship to release the anchor chain to the engineering ship and analyze the length of the anchor chain released at the initial position of the engineering ship; determines the single engineering ship operation coverage angle data by retrieving the current engineering ship operation task information, and obtains the bow angle control range interval corresponding to the engineering ship completing the task; The changes of the anchor chain connected to the anchor point corresponding to the bow control angle of each engineering ship are analyzed respectively; based on the anchor point position information of the engineering ship and the anchor chain length control data corresponding to the bow angle control of the operating ship, the bow angle of the engineering ship and the corresponding anchor chain control data plan are planned for the changes of the anchor chain during the operation of the engineering ship.

10. The navigation direction control system for an engineering ship based on four-anchor positioning according to claim 9, characterized in that: The implementation execution module includes an engineering vessel position output unit and an operation planning implementation unit; The engineering vessel position output unit feeds back the engineering vessel position information in real time through a visualization port; The operation planning implementation unit implements the actual operation according to the operation task information of the engineering ship by executing the control plan of the engineering ship's bow angle and the corresponding anchor chain change data.

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