Ship navigation positioning method based on UWB buoy, medium and equipment

Abstract

The invention relates to the technical field of ship navigation, in particular to a ship navigation and positioning method based on UWB buoys, a medium and equipment, and the ship navigation and positioning method comprises the following steps: constructing buoys along a line; the buoy is provided with a GNSS receiver and a UWB transmitting station; a UWB receiving station is installed on the ship; receiving distance measurement information of the UWB transmitting station; calculating ship position data; the method comprises the following steps: identifying emission signals of UWB emission stations, confirming marshalling and numbering information of the UWB emission stations, obtaining distance information between buoys where the two UWB emission stations are located, and calculating dead reckoning data according to the obtained distance measurement information between a ship and the two buoys and a forward intersection principle; and correcting according to the course and position information of the ship. According to the method, accurate ship position information can be provided when GNSS signal lock losing or other positioning modes are limited in the actual ship navigation process.

Description

Technical Field

[0001] This invention relates to the field of ship navigation technology, specifically to a ship navigation and positioning method, medium, and equipment based on UWB buoys. Background Technology

[0002] The safe navigation of ships is highly dependent on ship navigation and positioning technology. Therefore, obtaining accurate, real-time and reliable ship position information is an important aspect of the normal operation of ships.

[0003] Currently, the technologies used for ship navigation and positioning mainly include Global Navigation Satellite System (GNSS), inertial navigation system integrated navigation, long and short baseline acoustic navigation, and microwave navigation.

[0004] 1) The most widely used ship navigation and positioning technology is the Global Navigation Satellite System (GNSS). Currently, major GNSS systems include my country's BeiDou Navigation Satellite System (BDS), the United States' GPS (Global Positioning System), Russia's GLONASS (GLOBALNAVIGATION SATELLITE SYSTEM), and the European Union's GALILEO (Galileo) satellite navigation system. When GNSS signals are good, they can provide accurate navigation information for ships. However, when navigating in obstructed areas or when electromagnetic waves are interfered with, the GNSS reception signal deteriorates or even drops off, causing the ship to lose positioning information and become unable to navigate.

[0005] 2) A combined navigation method using IMU (Inertial Measurement Unit) sensors is employed. An IMU consists of a three-axis accelerometer and a three-axis gyroscope, measuring linear and angular velocities and integrating them to obtain the vehicle's attitude. However, attitude diverges over time, leading to accumulated errors in the system. When GNSS signal lock is lost, relying solely on a combined navigation method with other methods is insufficient for ships. IMUs used in ships are cost-limited, have poor accuracy, are prone to divergence, and cannot maintain high-precision navigation for extended periods. Consequently, the navigation and positioning system cannot provide accurate navigation information.

[0006] 3) Long and short baseline acoustic navigation technology, which uses acoustic base stations as the core sensors, requires prior operation in the sea area and installation of multiple acoustic base stations. It is generally used for positioning of underwater vehicles within a small range.

[0007] 4) Microwave navigation requires the installation of a transmitting station and a receiving station. The microwave antenna transmits microwave signals in a directional manner, the signal range is small, and it can only obtain relative coordinates, and cannot perform absolute positioning of the ship.

[0008] In conclusion, given the challenges of GNSS signal loss or other positioning limitations encountered during actual ship navigation, it is essential to research a ship navigation and positioning method based on UWB buoys. Summary of the Invention

[0009] The purpose of this invention is to provide a ship navigation and positioning method, medium, and equipment based on UWB buoys, in order to solve the technical problem of GNSS signal loss during ship navigation in the prior art. The specific technical solution is as follows:

[0010] This invention provides a ship navigation and positioning method based on UWB buoys, comprising the following steps:

[0011] Constructing buoys along the route: Construct multiple buoys along the planned route of the ship, group and number each buoy, with buoys in pairs, and set at a fixed distance between the two buoys. Set a fixed distance between each buoy and the planned route, and construct another set of buoys every target distance.

[0012] Install GNSS receivers and UWB transmitters on buoys: Install a GNSS receiver on each buoy and record the grouping and number of the buoys to which each GNSS receiver is installed. Install UWB transmitters with omnidirectional antennas on the buoys and set the IP address of each UWB transmitter according to the grouping and number of the buoys to which they are installed.

[0013] Ships equipped with UWB receiving stations: UWB receiving stations with omnidirectional antennas are installed on the ship's deck, and shipboard equipment is installed to output heading angle data. The ship sails from the starting point toward the destination according to the planned route and heading angle.

[0014] Receiving ranging information from UWB transmitters: When a ship sails between a group of UWB transmitters, the ranging information between the ship and two buoys is obtained according to the UWB ranging principle.

[0015] Calculating vessel position data: By identifying the transmission signals of UWB transmitters, confirming the grouping and numbering information of UWB transmitters, obtaining the distance information between the buoys where the two UWB transmitters are located, and then calculating the position data according to the forward rendezvous principle based on the obtained distance measurement information between the vessel and the two buoys.

[0016] A further improvement of the ship navigation and positioning method based on UWB buoys in this invention is that, after calculating the ship's position data, correction is performed based on the ship's heading and position information: specifically, ship navigation and positioning are achieved based on the ship's heading and position information, and the position correction amount and heading angle correction amount are obtained by comparing the ship's heading and position information with the planned route, and the ship is corrected accordingly.

[0017] A further improvement of the ship navigation and positioning method based on UWB buoys in this invention is that, when constructing multiple buoys along the planned route of the ship, anchors are used to fix the buoys to the seabed, and the buoys are connected to the anchors on the seabed through connectors.

[0018] A further improvement of the ship navigation and positioning method based on UWB buoys in this invention lies in the fact that receiving ranging information from a UWB transmitter includes filtering the ranging information. Specifically, this includes identifying the IP address information and device encoding information of the UWB transmitter, performing pairing, receiving measurement data after pairing, and the UWB receiver receiving signals emitted by the UWB transmitter within the target time period. The receiver demodulates the received signals from the UWB transmitter, extracts the effective measurement distance information for positioning calculation from the demodulated signals, and filters the effective measurement distance information.

[0019] A further improvement of the ship navigation and positioning method based on UWB buoys in this invention is that the demodulation process includes clock synchronization processing and frequency synchronization processing of the UWB signal.

[0020] A further improvement of the ship navigation and positioning method based on UWB buoys in this invention lies in the UWB ranging principle: based on the two-way time-of-flight method, specifically, each UWB transmitting station generates an independent timestamp from the start. At its timestamp Ta1, the UWB transmitting station transmits a request-type pulse signal, which is received by the UWB receiving station at its timestamp Tb1. At time Tb2, the UWB receiving station transmits a response-type signal, which is received by the UWB receiver at its timestamp Ta2. The flight time of the pulse signal between the two UWB base stations is calculated, and the flight distance L is obtained.

[0021] L=C×[(Ta2-Ta1)-(Tb2-Tb1)];

[0022] Where: C is the speed of electromagnetic wave propagation.

[0023] A further improvement of the ship navigation and positioning method based on UWB buoys in this invention lies in the fact that the buoys where the two UWB transmitters are located form a triangle with the ship. Let buoy A be the location of one UWB transmitter, buoy B be the location of the other UWB transmitter, and the ship's position be P. The dead reckoning data is calculated according to the forward rendezvous principle.

[0024]

[0025] Calculate the coordinates of point P:

[0026]

[0027] Where: L1 is the distance between buoy A and the ship; L2 is the distance between buoy B and the ship; S is the distance between buoy A and buoy B; α is the angle between the lines connecting AP and AB; β is the angle between the lines connecting BP and BA; (x p ,y p (x) represents the coordinates of the ship's position; A ,y A (x) represents the position coordinates of buoy A; B ,x B ) represents the position coordinates of buoy B.

[0028] The present invention also provides a readable storage medium storing a computer program adapted to be loaded and executed by a processor for the described UWB buoy-based ship navigation and positioning method.

[0029] The present invention also provides a computer device, the computer device including a memory and a processor, the memory storing a computer program, and when the computer program is executed by the processor, running the UWB buoy-based ship navigation and positioning method.

[0030] The application of the technical solution of the present invention has the following beneficial effects:

[0031] This invention relates to a ship navigation and positioning method based on UWB buoys. When a ship faces GNSS signal loss or other positioning limitations during actual navigation, it can provide accurate ship position information, solving the technical problem of GNSS signal loss during ship navigation in existing technologies. UWB buoys are constructed along the route, with two buoys grouped together for easier management and related calculations. The ship's position is obtained based on the distance measurement information between the ship and the two buoys, using the forward intersection principle, ensuring the accuracy of the position calculation.

[0032] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0033] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0034] Figure 1 This is a flowchart of the ship navigation and positioning method based on UWB buoys of the present invention;

[0035] Figure 2 This is a navigation diagram of the ship navigation and positioning method based on UWB buoys according to the present invention;

[0036] Figure 3 This is a schematic diagram illustrating the calculation of ship position data in the ship navigation and positioning method based on UWB buoys according to the present invention.

[0037] Among them, 1. Starting point; 2. Destination; 3. Ship; 4. Planned route; 5. UWB receiving station; 6. UWB transmitting station. Detailed Implementation

[0038] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0039] UWB (Ultra Wide Band) is a wireless carrier communication technology. It features low power consumption, insensitivity to channel fading, strong anti-interference capability, no interference to other devices in the same environment, and strong penetration.

[0040] See Figures 1-3 As shown, a ship navigation and positioning method based on UWB buoys includes the following steps:

[0041] Construct buoys along the route: Construct multiple buoys along the planned route 4 of the ship. Group and number each buoy. Set a fixed distance between two buoys and set a fixed distance between each buoy and the planned route 4. Construct another group of buoys every target distance.

[0042] GNSS receiver and UWB transmitter 6 are installed on each buoy: GNSS receiver is installed on each buoy, and the grouping and number of the buoy to which each GNSS receiver is installed are recorded. UWB transmitter 6 with omnidirectional antennas is installed on each buoy, and the IP address of each UWB transmitter 6 is set according to the grouping and number of the buoys installed.

[0043] Ship UWB receiver station 5: An omnidirectional antenna UWB receiver station 5 is installed on the ship deck. The ship is equipped with a heading angle data output device. According to the planned route 4, the ship sails from the starting point 1 toward the destination 2 according to the heading angle.

[0044] Receive ranging information from UWB transmitter 6: When a ship sails between a group of UWB transmitters 6, it obtains the ranging information between the ship and the two buoys according to the UWB ranging principle.

[0045] Calculate vessel position data: By identifying the transmission signal of UWB transmitter 6, confirm the grouping and numbering information of UWB transmitter 6, obtain the distance information between the buoys where the two UWB transmitter 6 are located, and then calculate the position data according to the forward rendezvous principle based on the obtained distance measurement information between the vessel and the two buoys.

[0046] Correction based on ship's heading and position information: Based on the ship's heading and position information, the ship is positioned and navigated. By comparing the ship's heading and position information with the planned route 4, the position correction amount and heading angle correction amount are obtained, and the ship is corrected.

[0047] Specifically, the output heading angle data device can employ a magnetic compass (an instrument for determining a direction reference) or an elliptical compass (an inertial device that determines the direction of an object's motion without relying on external information). The UWB buoy-based ship navigation and positioning method employed in this invention can complete ship navigation and positioning even when satellite navigation and positioning methods fail, fulfilling the ship's navigation and positioning requirements over a wide area. It can calculate the ship's two-dimensional plane coordinates to achieve ship navigation and positioning, thus meeting the requirements for ship navigation and positioning.

[0048] Preferably, when constructing multiple buoys along the planned route 4 of the vessel, anchors are used to fix the buoys to the seabed, and connectors are used to connect the buoys to the anchors on the seabed. This invention uses gravity anchoring to anchor the buoys within a specified range, and the connectors can be anchor chains or anchor ropes. Grouping and numbering each buoy facilitates later management. The distance between each group of buoys and the number of groups constructed are designed according to the distance of the planned route 4.

[0049] Preferably, receiving ranging information from UWB transmitter 6 includes filtering the ranging information. Specifically, this includes identifying the IP address and device encoding information of UWB transmitter 6, pairing them, and receiving measurement data after pairing. UWB receiver 5 receives signals emitted by UWB transmitter 6 within the target time period, demodulates the received signals, extracts the effective distance measurement information for positioning calculation from the demodulated signals, and filters the effective distance measurement information. UWB receiver 5 uses an omnidirectional antenna to prevent the buoy from rotating and causing distance measurement issues. The accuracy of the UWB positioning system may be affected by various factors, such as channel attenuation and multipath effects. Therefore, by receiving ranging information for a period of time and filtering the UWB positioning system's distance measurement information, the accuracy of the received signal can be guaranteed. Existing common filtering methods can be used.

[0050] Preferably, the demodulation process includes clock synchronization processing and frequency synchronization processing of the UWB signal. Since the signal received by the UWB receiving station 5 may contain signals from multiple transmitters, and each transmitter may transmit signals at different times or frequencies, information useful for positioning calculations, such as the time of arrival (TOA), can be extracted from the processed signal during the demodulation process.

[0051] Preferably, the UWB ranging principle is based on the two-way time-of-flight method. Specifically, each UWB transmitting station 6 generates an independent timestamp from the start of its operation. At timestamp Ta1, UWB transmitting station 6 transmits a request-type pulse signal, which is received by UWB receiving station 5 at timestamp Tb1. At timestamp Tb2, UWB receiving station 5 transmits a response-type signal, which is received by the UWB receiver at timestamp Ta2. The flight time of the pulse signal between the two UWB base stations is calculated, and the flight distance L is obtained.

[0052] L=C×[(Ta2-Ta1)-(Tb2-Tb1)];

[0053] Where: C is the speed of electromagnetic wave propagation.

[0054] Preferred, such as Figure 3 As shown, the two buoys containing UWB transmitters 6 form a triangle with the ship. Let buoy A be the location of one UWB transmitter 6 and buoy B be the location of the other UWB transmitter 6. Let the ship's position be P. Calculate the dead reckoning data according to the forward rendezvous principle:

[0055]

[0056] Calculate the coordinates of point P:

[0057]

[0058] Where: L1 is the distance between buoy A and the ship; L2 is the distance between buoy B and the ship; S is the distance between buoy A and buoy B; α is the angle between the lines connecting AP and AB; β is the angle between the lines connecting BP and BA; (x p ,y p (x) represents the coordinates of the ship's position; A ,y A (x) represents the position coordinates of buoy A; B ,x B () represents the position coordinates of buoy B. In this embodiment, S is 1000m, and the distance between the ship and buoy B is 500m.

[0059] This invention relates to a ship navigation and positioning method based on UWB buoys. When a ship faces GNSS signal loss or other positioning limitations during actual navigation, it can provide accurate ship position information, solving the technical problem of GNSS signal loss during ship navigation in existing technologies. UWB buoys are constructed along the route, with two buoys grouped together for easier management and related calculations. The ship's position is obtained based on the distance measurement information between the ship and the two buoys, using the forward intersection principle, ensuring the accuracy of the position calculation.

[0060] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A UWB buoy-based ship navigation positioning method, characterized in that, The method comprises the following steps: Building buoys along the planned route of the ship: a plurality of buoys are built along the planned route of the ship, each buoy is grouped and numbered, two buoys form a group, the distance between the two buoys is fixed, and each buoy is arranged at a fixed distance from the planned route, and a group of buoys is built at a target distance. Installing GNSS receivers and UWB transmitting stations on the buoys: GNSS receivers are installed on each buoy, and the group and number of the buoy on which each GNSS receiver is installed are recorded, omnidirectional antenna UWB transmitting stations are installed on the buoys, and the IP address of each UWB transmitting station is set according to the group and number of the installed buoy. Installing UWB receiving stations on the ship: omnidirectional antenna UWB receiving stations are installed on the deck of the ship, and a device for outputting heading angle data is installed on the ship, and the ship sails from the starting point to the destination according to the heading angle according to the planned route. Receiving the ranging information of the UWB transmitting station: when the ship sails between a group of UWB transmitting stations, the ranging information between the ship and the two buoys is obtained according to the UWB ranging principle. Calculating the ship position data: by identifying the transmission signal of the UWB transmitting station, confirming the group and number information of the UWB transmitting station, obtaining the distance information between the two buoys where the two UWB transmitting stations are located, and according to the ranging information between the ship and the two buoys, the ship position data is calculated according to the forward intersection principle.

2. The UWB buoy-based ship navigation positioning method according to claim 1, characterized in that, After calculating the ship position data, the ship is corrected according to the ship heading and position information: according to the ship heading and position information, the ship navigation positioning is realized, the position correction amount and the heading angle correction amount are obtained by comparing the ship heading and position information with the planned route, and the ship is corrected. 3.The UWB buoy-based ship navigation positioning method according to claim 1, characterized in that, When a plurality of buoys are built along the planned route of the ship, the buoys are fixed to the seabed by using anchors, and the buoys are connected to the anchors on the seabed by connecting pieces.

4. The UWB buoy-based ship navigation positioning method according to claim 1, characterized in that, Receiving the ranging information of the UWB transmitting station includes filtering the ranging information, which specifically includes identifying the IP address information and device code information of the UWB transmitting station, pairing, receiving measurement data after pairing is completed, the UWB receiving station receives the signal emitted by the UWB transmitting station within a target time, demodulates the received signal emitted by the UWB transmitting station, extracts the measurement distance information effective for positioning calculation from the demodulated signal, and filters the effective measurement distance information.

5. The UWB buoy-based ship navigation positioning method according to claim 4, characterized in that, The demodulation process includes clock synchronization processing and frequency synchronization processing of the UWB signal.

6. The UWB buoy-based ship navigation positioning method according to claim 1, characterized in that, The UWB ranging principle is based on the two-way time-of-flight method, specifically, each UWB transmitting station generates an independent timestamp from the start, the UWB transmitting station emits a pulse signal of request nature at Ta1 on its timestamp, the UWB receiving station receives the signal at Tb1 on its timestamp, the UWB receiving station emits a response nature signal at Tb2, which is received by the UWB receiver at Ta2 on its timestamp, the flight time of the pulse signal between the two UWB base stations is calculated, and the flight distance L is calculated according to the flight time: L=C×[(Ta2-Ta1)-(Tb2-Tb1)]; Where: C is the speed of electromagnetic wave propagation.

7. The UWB buoy-based ship navigation positioning method according to claim 6, characterized in that, Two UWB transmitting stations are located in the buoy and the ship to form a triangle, one of the UWB transmitting stations is located in the buoy A, the other UWB transmitting station is located in the buoy B, and the position of the ship is P, according to the principle of forward intersection, the navigation data is calculated: The coordinates of P point are calculated: where: Li is the distance between the A buoy and the ship; L2 is the distance between the B buoy and the ship; S is the distance between the A buoy and the B buoy; a is the angle between the AP line and the AB line; b is the angle between the BP line and the BA line; (x p ,y p ) are the coordinates of the ship position; (x A ,y A ) are the coordinates of the A buoy position; (x B ,x B ) are the coordinates of the B buoy position.

8. A readable storage medium, characterized by, The readable storage medium stores a computer program, and the computer program is suitable for being loaded by the processor and executing the UWB buoy-based ship navigation positioning method in any one of claims 1-7.

9. A computer device, comprising: The computer device includes a memory and a processor, the memory stores a computer program, and the computer program is executed by the processor to run the UWB buoy-based ship navigation positioning method in any one of claims 1-7.

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