A method and device for dynamic positioning of a recreational fishing boat on water and a storage medium

Abstract

The present application relates to the technical field of leisure fishing, and particularly relates to a method and device for dynamic positioning of a leisure fishing boat on water and a storage medium, the method comprising: first, determining target position and initial adjustment distance, dynamic positioning range radius, anchoring tolerance radius and other system parameters through a parameter setting step; then, in an initial heading adjustment step, performing heading correction based on the azimuth relationship between the target position and the current heading extension line at the initial adjustment distance; when the ship enters the dynamic positioning range, performing a heading and speed comprehensive adjustment step, collecting water flow data and comprehensively calculating the adjusted heading and speed; when the ship enters the anchoring tolerance range, performing a final positioning maintaining step, and offsetting the water flow by controlling the rotation direction and speed of the propeller to maintain the positioning; finally, through a cyclic judgment step, returning to the comprehensive adjustment step automatically when the ship deviates. The present application realizes low-cost and high-precision dynamic positioning on water without expensive equipment.

Description

Technical Field

[0001] This invention relates to the field of recreational fishing technology, and in particular to a method, device and storage medium for dynamic positioning of recreational fishing boats on water. Background Technology

[0002] For recreational fishing vessels, mechanical or electronic anchors are often used to maintain relative stillness on the water. Mechanical anchors have the following drawbacks: 1. They cannot be anchored in very deep water or where there are no fixed objects on the seabed; 2. Even if anchoring is possible, the time required for dropping and raising the anchor is long. While electronic anchors offer better performance, they are more expensive, especially for large fishing vessels, where the cost is often prohibitive.

[0003] For recreational fishing boats powered by azimuth propulsion, electronic anchoring can generally be achieved through azimuth propulsion. However, due to the high cost of azimuth propulsion systems, they are rarely used on recreational fishing boats. Typical recreational fishing boats often use direct-drive, bottom-drive, or outboard motor drive systems, and without electronic anchors, there is currently no method for positioning on the water. Summary of the Invention

[0004] To overcome the above shortcomings, the present invention provides a method, device and storage medium for dynamic positioning of recreational fishing boats on water, aiming to improve the problem that traditional recreational fishing boats are difficult to achieve high-precision dynamic positioning on water without electronic anchors.

[0005] In a first aspect, the present invention provides the following technical solution: a method for dynamic positioning of a recreational fishing boat on water, comprising the following steps:

[0006] Parameter setting steps: Determine the target location for the planned mooring of the recreational fishing boat, and set system parameters including the initial adjustment distance, dynamic positioning range radius, and mooring tolerance radius;

[0007] Initial heading adjustment steps: When the recreational fishing boat sails to a distance from the target position that is equal to the initial adjustment distance, the heading is corrected based on the positional relationship between the target position and the extension line of the current heading of the recreational fishing boat;

[0008] Comprehensive adjustment steps for heading and speed: When the recreational fishing boat enters the area within the radius of the dynamic positioning range, water flow data is collected, and based on the water flow data and the relative relationship between the current vessel position and the target position, the heading and speed of the recreational fishing boat are comprehensively calculated and adjusted.

[0009] Final positioning maintenance steps: When the distance between the recreational fishing vessel and the target position enters the area within the anchorage tolerance radius, the rotation direction and speed of the propeller are controlled to counteract the influence of water flow and maintain the dynamic positioning of the vessel.

[0010] Loop judgment step: During the dynamic positioning process of the vessel, if the distance between the recreational fishing boat and the target position is greater than the radius of the dynamic positioning range again, then return to the course and speed comprehensive adjustment step.

[0011] Preferably, the parameter setting step specifically includes:

[0012] Determine the coordinates of the target location where the recreational fishing boat is planned to be moored;

[0013] An initial adjustment distance is set to trigger the initial course adjustment step when the recreational fishing boat sails to a distance equal to the target location.

[0014] A dynamic positioning range radius is set to delineate a circular area centered on the target location point and with the dynamic positioning range radius as its radius. When the distance between the recreational fishing boat and the target location point is less than or equal to the dynamic positioning range radius, the heading and speed integrated adjustment step is triggered.

[0015] An anchoring tolerance radius is set to delineate a circular area centered on the target location point and with the anchoring tolerance radius as its radius. When the distance between the recreational fishing boat and the target location point is less than or equal to the anchoring tolerance radius, the final positioning and holding step is triggered.

[0016] Set a course determination time interval to obtain historical position data required for calculating the ship's real-time course.

[0017] Preferably, the course correction process includes:

[0018] Obtain the current position of the recreational fishing vessel and its historical position before a preset course determination time interval;

[0019] Based on the current vessel position and the historical vessel position, determine the current extended course of the recreational fishing vessel;

[0020] Calculate the vertical distance from the target position to the extension of the current heading;

[0021] Determine whether the vertical distance is less than the preset route tolerance;

[0022] If the vertical distance is not less than the preset course tolerance, then the recreational fishing boat is controlled to make course corrections with a preset rudder angle based on the orientation of the target position relative to the extension of the current course.

[0023] Preferably, the process of collecting water flow data and, based on the water flow data and the relative relationship between the current vessel position and the target position, comprehensively calculating and adjusting the course and speed of the recreational fishing boat includes:

[0024] The direction and speed of water flow are detected in real time by sensors installed on the recreational fishing boat.

[0025] The water flow direction and water flow velocity parameters are obtained as the water flow data;

[0026] Based on the current ship position and the target position, calculate the distance component along the water flow direction and the distance component perpendicular to the water flow direction between the two.

[0027] The still water speed of the recreational fishing boat is obtained, and the still water speed is decomposed into a velocity component along the water flow direction and a velocity component perpendicular to the water flow direction.

[0028] Based on the distance component along the water flow direction, the distance component perpendicular to the water flow direction, the water flow velocity, and the preset planned time to sail to the target position, the target speed required for the recreational fishing boat is calculated.

[0029] Control the recreational fishing boat to adjust its current speed to the target speed.

[0030] Preferably, the process of maintaining the ship's dynamic positioning by controlling the rotation direction and speed of the propeller to counteract the effects of water flow includes:

[0031] Determine the relationship between the current course of the recreational fishing boat and the direction of the water current;

[0032] If the condition is determined to be downstream, the propeller is controlled to rotate in the opposite direction, and the propeller speed is adjusted so that the reverse speed generated by the recreational fishing boat is equal to the speed of the water flow.

[0033] If the situation is determined to be against the current, the propeller is controlled to rotate in the forward direction, and the propeller speed is adjusted so that the forward speed generated by the recreational fishing boat is equal to the speed of the water flow.

[0034] Preferably, the specific process of the cyclic judgment step includes:

[0035] Continuously monitor the current position of the recreational fishing vessel;

[0036] Calculate the distance between the current ship position and the target position in real time;

[0037] Determine whether the distance between the current ship position and the target position is greater than the radius of the dynamic positioning range;

[0038] If the distance between the current ship position and the target position is greater than the radius of the dynamic positioning range, the ship will re-enter the course and speed adjustment step, correct the course with a preset rudder angle so that the bow points to the target position, and recalculate and adjust the speed based on the current water flow data and position relationship.

[0039] Preferably, the method further includes:

[0040] If the distance between the recreational fishing boat and the target location is less than or equal to a first preset distance value, the wind speed is obtained, where the first preset distance value is less than the anchorage tolerance radius.

[0041] The duration for which the distance between the recreational fishing boat and the target location is less than or equal to the first preset distance value;

[0042] When the duration reaches a preset time threshold, a low-energy time interval is determined based on the heading determination time interval, a low-energy speed is determined based on the propeller speed, and a low-energy rudder propeller adjustment range is determined based on the anchor tolerance radius and the current positioning deviation.

[0043] Based on the low-energy time interval, the low-energy speed, and the low-energy propeller adjustment range, corresponding adaptive low-energy control operations are performed.

[0044] Preferably, the method further includes:

[0045] Obtain the area of ​​the fishing spot;

[0046] Determine whether the area of ​​the fishing spot is lower than a preset area threshold;

[0047] If so, obtain the water flow velocity data and wind direction and speed data within the first preset time period;

[0048] Based on the water flow velocity data, predictive water flow data and predictive wind direction and speed data are determined within the second preset time period;

[0049] The compensated speed and rudder angle compensation values ​​are determined based on the predicted water flow data and the predicted wind direction and speed data.

[0050] If the distance between the recreational fishing boat and the target location is between the second preset distance value and the anchorage tolerance radius, the predicted water flow data and the predicted wind direction and wind speed data are corrected based on the distance between the recreational fishing boat and the target location.

[0051] If the distance between the recreational fishing vessel and the target location is between the second preset distance value and the first preset distance value, a corresponding compensation adjustment operation is performed based on the compensated speed and the rudder angle compensation value, wherein the second preset distance value is between the first preset distance value and the anchoring tolerance radius.

[0052] Secondly, the present invention provides a dynamic positioning device for recreational fishing boats, the device comprising:

[0053] The parameter setting unit is used to determine the target location for the planned mooring of recreational fishing boats and to set system parameters including the initial adjustment distance, dynamic positioning range radius, and anchoring tolerance radius.

[0054] An initial course adjustment unit is used to correct the course based on the orientation relationship between the target position and the extension line of the current course of the recreational fishing boat when the recreational fishing boat sails to a distance equal to the initial adjustment distance.

[0055] The heading and speed integrated adjustment unit is used to collect water flow data when the recreational fishing boat enters the area within the radius of the dynamic positioning range, and to comprehensively calculate and adjust the heading and speed of the recreational fishing boat based on the water flow data, the relative relationship between the current position of the vessel and the target position.

[0056] The final positioning and holding unit is used to counteract the influence of water flow and maintain the dynamic positioning of the vessel by controlling the rotation direction and speed of the propeller when the distance between the recreational fishing vessel and the target position enters the area within the anchoring tolerance radius.

[0057] The cyclic judgment unit is used to trigger the heading and speed integrated adjustment unit if, during the dynamic positioning process of the vessel, the distance between the recreational fishing boat and the target position is again greater than the radius of the dynamic positioning range.

[0058] Thirdly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor as steps of a method for dynamic positioning of a recreational fishing vessel on water.

[0059] The present invention has the following beneficial effects:

[0060] 1. In this invention, by adopting a recreational fishing boat with a non-full-rotation drive method, dynamic positioning on the water can be achieved through software algorithms without increasing costs, which can meet the fishing conditions in deep water, underwater where anchoring is not possible, or where there are requirements for anchoring time. Attached Figure Description

[0061] Figure 1 This is a flowchart illustrating a dynamic positioning method for recreational fishing boats on water, as proposed in this invention. Detailed Implementation

[0062] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] This invention provides a method for dynamic positioning of recreational fishing boats on water, such as... Figure 1 As shown, it includes the following steps:

[0064] Parameter setting steps: Determine the target location for the planned mooring of the recreational fishing boat, and set system parameters including the initial adjustment distance, dynamic positioning range radius, and anchoring tolerance radius.

[0065] Furthermore, the parameter setting steps specifically include:

[0066] Determine the coordinates of the target location where the recreational fishing boats are planned to be moored;

[0067] Set an initial adjustment distance to trigger the initial course adjustment step when the recreational fishing boat sails to a distance equal to the target location.

[0068] Set the dynamic positioning range radius to delineate a circular area centered on the target location point and with the dynamic positioning range radius as the radius. When the distance between the recreational fishing boat and the target location point is less than or equal to the dynamic positioning range radius, the heading and speed integrated adjustment step is triggered.

[0069] Set the anchorage tolerance radius to delineate a circular area centered on the target location and with the anchorage tolerance radius as the radius. When the distance between the recreational fishing boat and the target location is less than or equal to the anchorage tolerance radius, the final positioning and holding step is triggered.

[0070] Set a course determination time interval to obtain historical position data required for calculating the ship's real-time course.

[0071] Specifically, firstly, the target location for the recreational fishing boat to moor for fishing needs to be determined through the ship's GPS positioning system, electronic nautical chart, or manual input by the user. This point has precise latitude and longitude coordinates on a two-dimensional horizontal plane, denoted here as... The initial adjustment distance 'a' is set. This parameter 'a' defines the trigger point for the ship to begin the initial course correction in the far field. It represents the straight-line distance between the ship and the target position. When the ship sails to a distance equal to this preset distance from the target point, the system will automatically trigger the subsequent initial course adjustment steps. This avoids the ship making a large course correction when it is too close to the target point, thus ensuring a smooth and accurate entry into the fine-tuning stage. The initial adjustment distance 'a' can be set according to the ship's maneuverability and sea conditions, and is usually on the order of several hundred meters, such as 200 meters or 300 meters.

[0072] Set the dynamic positioning range radius b. This parameter b defines a range from the target location point. A circular area with radius b as the center is defined. When a vessel enters this circular area, the system will trigger a more refined comprehensive adjustment step for course and speed. This circular area is the core adjustment zone for dynamic positioning. Within this area, the system will simultaneously consider the influence of water flow and perform joint control of course and speed, so that the vessel approaches the target point in the expected state. The radius b of the dynamic positioning range is generally determined with reference to the size of the fishing area and is usually smaller than the initial adjustment distance a, for example, it can be set to 50 meters or 80 meters.

[0073] Set the anchorage tolerance radius c. This parameter c defines a radius relative to the target location point. A circular area with radius c as the center is used as the criterion for successful final positioning. When the distance between the vessel and the target location point enters the circular area with radius c, the system will trigger the final positioning holding step and switch to the mooring mode that mainly counteracts the water flow. This defines the positioning accuracy. As long as the vessel remains within this area, the dynamic positioning is considered successful, which meets the needs of fishing operations. The mooring tolerance radius c can be set to 5 meters or 10 meters.

[0074] To ensure control accuracy, other key parameters also need to be set, such as the course determination time interval t, which is the time span of historical position data on which the ship's real-time course is based; for example, it can be set to 5 seconds, that is, taking the current position and the position 5 seconds ago to calculate the instantaneous course; the allowable deviation of the course m, which is the margin of error used to determine whether the ship's course is aligned with the target point during the initial course adjustment phase; for example, it can be set to 3 meters; and the planned sailing time. This parameter is used to calculate the expected time for a ship to travel from its current position to the target point at the calculated speed during the course and speed adjustment process. This parameter is used to back-calculate the required target speed and can be set to 30 seconds, for example.

[0075] Through the above steps, multiple spatial boundary parameters with different functions can be preset, establishing a clear phased control logic and triggering conditions for the entire dynamic positioning system, thereby realizing fully automated closed-loop control from far-field heading correction and near-field integrated adjustment to final precise positioning.

[0076] Initial heading adjustment steps: When the recreational fishing boat sails to a distance from the target position that is equal to the initial adjustment distance, the heading is corrected based on the bearing relationship between the target position and the extension line of the recreational fishing boat's current heading.

[0077] Furthermore, the course correction process includes:

[0078] Obtain the current position of the recreational fishing vessel and its historical position before the preset course determination time interval;

[0079] Based on the current and historical positions of the vessel, determine the extension of the current course of the recreational fishing vessel;

[0080] Calculate the vertical distance from the target position to the extension of the current heading;

[0081] Determine if the vertical distance is less than the preset route tolerance;

[0082] If the vertical distance is not less than the preset course tolerance, the recreational fishing boat will be controlled to make course corrections with a preset rudder angle based on the target position relative to the current course extension line.

[0083] Specifically, when a shipborne positioning system, such as GPS, detects that the ship is near a target location ( , When the distance to the target ship is equal to the preset initial adjustment distance 'a', the system immediately initiates this step. First, it acquires two key position data points: the current ship position (…). , ) and historical ship locations ( , ), based on the two obtained location points ( , )and( , A straight line can be determined, which represents the extension of the ship's current course. The system then calculates the target position point. , The vertical distance P from the extension of the heading is a direct reflection of the deviation between the current heading and the ideal heading. The vertical distance P is calculated precisely using the following formula:

[0084] ;

[0085] in, The vertical distance from the target position to the extension of the current heading, ( , ) is the target location, ( , ) represents the current position of the ship. , () indicates the historical ship location;

[0086] The system compares the calculated vertical distance P with the preset allowable deviation m of the course. The allowable deviation m is a small distance value, for example, 3 meters, used to determine whether the heading is sufficiently accurate to the target point. If P ≤ m, it indicates that the current heading is accurately pointing to the target point, and the deviation is within acceptable limits. The system will not correct the heading, the ship will maintain its original heading, and wait to enter the next control step. If P > m, it indicates that the heading deviation is large and correction is needed. The system will then determine the target point (…). , Relative to the current course extension, the following correction actions are performed: if the target point is "above" the course extension, the vessel is controlled to turn left by a preset rudder angle; if the target point is "below" the course extension, the vessel is controlled to turn right by a preset rudder angle. The preset rudder angle used in this stage is generally 5° to 10°. The purpose of selecting a smaller rudder angle in this range is to avoid the vessel from experiencing violent roll and attitude changes due to excessively sharp turns, thereby ensuring a smooth course correction process, improving passenger comfort, and preparing for subsequent entry into the fine-tuning zone.

[0087] Through the above steps, the heading deviation can be corrected smoothly in advance at the far field distance, ensuring that the ship can enter the subsequent fine adjustment area with an attitude that is precisely aligned with the target point. This avoids large and urgent turning operations at close range, and provides a solid foundation for the stability and accuracy of the entire dynamic positioning process.

[0088] Comprehensive adjustment steps for course and speed: When the recreational fishing boat enters the area within the radius of the dynamic positioning range, water flow data is collected, and based on the water flow data and the relative relationship between the current position and the target position, the course and speed of the recreational fishing boat are comprehensively calculated and adjusted.

[0089] Furthermore, the process of collecting water flow data and, based on the water flow data and the relative position of the current vessel to the target position, comprehensively calculating and adjusting the course and speed of the recreational fishing boat includes:

[0090] Sensors installed on recreational fishing boats detect the direction and speed of water flow in real time.

[0091] Obtain the water flow direction and velocity parameters as water flow data;

[0092] Based on the current ship position and the target position, calculate the distance component along the water flow direction and the distance component perpendicular to the water flow direction between the two.

[0093] Obtain the still water speed of the recreational fishing boat and decompose the still water speed into a velocity component along the water flow direction and a velocity component perpendicular to the water flow direction;

[0094] Based on the distance component along the water flow direction, the distance component perpendicular to the water flow direction, the water flow velocity, and the preset planned time to sail to the target position, calculate the target speed that the recreational fishing boat needs to achieve.

[0095] Control the recreational fishing boat to adjust its current speed to the target speed.

[0096] Specifically, when a recreational fishing boat sails into the target location ( , When the ship enters a circular area centered on (a) and with a radius of b of the dynamic positioning range, the system triggers a comprehensive course and speed adjustment step. The purpose is to overcome the influence of water flow by simultaneously and coordinately controlling the course and speed, enabling the ship to accurately reach the target point along a predetermined path and at a predetermined time. After the ship enters this dynamic positioning range, the system first controls the rudder to turn, for example, with a rudder angle of 15° to 25°, quickly aligning the bow with the target position. , This establishes an initial reference heading toward the target, while simultaneously, water velocity vector sensors mounted on the hull collect real-time data on the current water flow velocity. The direction of the water flow is a key input for current resistance compensation calculations. The system obtains the ship's nominal still water speed under the current operating conditions based on the thruster's throttle opening or power command. In the control calculations, this still water speed vector is decomposed into two orthogonal components, namely the speed component along the water flow direction. and the component of speed perpendicular to the direction of water flow Calculate the current ship position (X, Y) and the target position point ( , The relative position vector between the two points is used to decompose the distance of this relative position vector into two components, specifically, the distance component along the direction of water flow. and the distance component perpendicular to the direction of water flow The straight-line distance between the current position and the target position for:

[0097] ;

[0098] In order to ensure that the ship sails within the pre-set planned time To counteract the influence of the water flow and reach the target point, a resultant velocity equation needs to be solved. Assuming the current is downstream, the following relationship exists: the actual resultant velocity of the ship in the ground coordinate system along the direction of the water flow is... According to the principles of kinematics, the ship should arrive at the target point simultaneously along the direction of the current and perpendicular to it, meaning the time taken is equal. This leads to the following system of equations:

[0099] ;

[0100] At the same time, still water speed The relationship between it and its components is as follows:

[0101] ;

[0102] The actual resultant speed of the ship relative to the ground It should be equal to the total distance D divided by the planned time. :

[0103] ;

[0104] By solving the above equations simultaneously, we can calculate the target still water speed that the ship needs to achieve in order to realize this path planning. The calculation formula is as follows:

[0105] Downstream working conditions:

[0106] ;

[0107] Upstream operating conditions:

[0108] ;

[0109] In the formula for the countercurrent working condition This represents the projection component of the line connecting the current position to the target point along the direction of the water flow. When the target point is downstream of the ship's current position, A positive value occurs when the target point is upstream of the ship's current position. The value is negative. The system automatically determines and selects the corresponding formula based on the real-time relationship between the ship's heading and the direction of the water flow.

[0110] The system calculates the target speed. By adjusting the throttle or power output of the propeller, the ship's current speed can be precisely adjusted to the target value;

[0111] Through the above steps, the system introduces water flow data and performs joint and closed-loop calculations of heading and speed, enabling the ship to actively counteract the drift caused by the water flow, thereby achieving a transformation from coarse pointing to precise tracking and ensuring that it stably approaches the target point along the predetermined path.

[0112] Final positioning maintenance steps: When the distance between the recreational fishing boat and the target position enters the area within the anchorage tolerance radius, the dynamic positioning of the vessel is maintained by controlling the rotation direction and speed of the propeller to counteract the influence of the water flow.

[0113] Furthermore, the process of maintaining the ship's dynamic positioning by controlling the propeller's rotation direction and speed to counteract the effects of water flow includes:

[0114] Determine the relationship between the current course of the recreational fishing boat and the direction of the water current;

[0115] If the condition is determined to be downstream, the propeller is controlled to rotate in the opposite direction, and its speed is adjusted so that the reverse speed generated by the recreational fishing boat is equal to the speed of the water flow.

[0116] If the situation is determined to be against the current, the propeller is controlled to rotate in the forward direction, and its speed is adjusted so that the forward speed generated by the recreational fishing boat is equal to the speed of the water flow.

[0117] Specifically, after the recreational fishing boat has undergone the precise guidance of the aforementioned steps, its position relative to the target location ( , When the distance of the ship enters the circular area defined by the anchorage tolerance radius c, the system triggers the final positioning and holding step. Its goal is to switch from navigation approach to fixed-point maintenance, which is to directly counteract the force of the water flow by controlling the output of the thruster, so that the ship remains stationary relative to the bottom of the water.

[0118] The system first determines the relationship between the ship's current course and the direction of the current. This determination is based on the continuously updated current direction data and the ship's own course angle data during the course and speed integrated adjustment process. With the current, the angle between the ship's stern and the current direction is small, and the current mainly pushes the ship from the stern to the bow. Against the current, the angle between the ship's bow and the current direction is small, and the current mainly rushes from the bow to the stern. Based on these determinations, the system executes different propeller control strategies, the physical essence of which is to generate a still-water speed equal in magnitude but opposite in direction to the current speed. This results in the ship's net velocity relative to the ground being zero. In the downstream situation, the water flow moves at a velocity... To counteract the forward drift of the ship, the system needs to generate a backward thrust. This is achieved by controlling the propeller to rotate in the opposite direction. The system precisely adjusts the propeller speed to achieve the ship's reverse still-water speed. Numerically related to water flow velocity Equal, opposite in direction, that is =- At this point, the ship's net velocity relative to the ground is zero. + = - =0;

[0119] In the case of upstream flow, the water flows at a speed To counteract the backward drift of the ship, the system controls the propeller to rotate forward, generating forward thrust. The system precisely adjusts the propeller speed to achieve the ship's forward still-water speed. Numerically related to water flow velocity Equal, opposite in direction, that is = At this point, the ship's net velocity relative to the ground is zero. + =- + =0;

[0120] Through the above steps, the system determines the hydrodynamic relationship between the ship and the water flow, and controls the propeller to rotate in the forward or reverse direction at a speed that matches the water flow speed, directly generating precise thrust to counteract water flow drift. Thus, without the need for expensive specialized equipment, the system enables low-cost, high-precision dynamic positioning and berthing of the ship at the target point.

[0121] Loop judgment step: During the dynamic positioning process of the vessel, if the distance between the recreational fishing boat and the target position is greater than the radius of the dynamic positioning range again, then return to the course and speed comprehensive adjustment step.

[0122] Furthermore, the specific process of the loop judgment step includes:

[0123] Continuously monitor the current vessel position of recreational fishing boats;

[0124] Calculate the distance between the current ship position and the target position in real time;

[0125] Determine whether the distance between the current ship position and the target position is greater than the radius of the dynamic positioning range;

[0126] If the distance between the current ship position and the target position is greater than the radius of the dynamic positioning range, the ship will re-enter the course and speed adjustment step. The course will be corrected with a preset rudder angle so that the bow points to the target position. The speed will be recalculated and adjusted based on the current water flow data and positional relationship.

[0127] Specifically, after the vessel successfully enters the final positioning and holding phase and achieves dynamic positioning, the system does not stop working. The shipborne positioning system, such as GPS, continuously monitors and updates the vessel's current position at a certain frequency. Based on the acquired current position, the system calculates its real-time position relative to the target location. , Real-time distance between ) Then, Compare with the predefined dynamic positioning range radius b in the parameter setting step, if ≤b indicates that although the ship may drift within a small range, it is still within an acceptable fine adjustment range. The system determines that the current positioning state is valid and continues to maintain the control mode of the final positioning holding step, that is, to continue to counteract the water flow by controlling the forward and reverse rotation and speed of the propeller.

[0128] like >b indicates that the ship has significantly deviated from the target point due to environmental disturbances such as excessive wind speed or fast current, exceeding the tolerance range of fine positioning. If this occurs, the system will immediately abort the current final positioning holding step. Subsequently, the control logic will re-enter and execute the comprehensive heading and speed adjustment step. The system will then perform the following steps: First, with a preset rudder angle, such as 15° to 25°, quickly correct the heading so that the bow points back to the target position. , Simultaneously, the system collects the latest water flow direction and velocity data. Based on the latest ship position, target position, and water flow data, it re-decomposes the speed vector and calculates the resultant velocity to obtain a new target speed. The system then controls the ship to adjust its speed to the new target value. Through this series of operations, the system readjusts the ship from its deviation state and guides it to approach the target point steadily again until it re-enters the anchorage tolerance radius c, triggering the final positioning and holding step again.

[0129] Through the above steps, the system continuously monitors the position and makes real-time condition judgments. When the ship deviates from the positioning area due to environmental interference, it can automatically restart the fine adjustment process, so that the entire system forms a self-correcting closed-loop control, thereby ensuring the long-term reliability and stability of the dynamic positioning function.

[0130] On the other hand, embodiments of the present invention also provide a dynamic positioning device for recreational fishing boats, the device comprising:

[0131] The parameter setting unit is used to determine the target location for the planned mooring of recreational fishing boats and to set system parameters including the initial adjustment distance, dynamic positioning range radius, and anchoring tolerance radius.

[0132] The initial course adjustment unit is used to correct the course when the recreational fishing boat sails to a distance from the target position that is equal to the initial adjustment distance, based on the orientation relationship between the target position and the extension line of the recreational fishing boat's current course.

[0133] The heading and speed integrated adjustment unit is used to collect water flow data when the recreational fishing boat enters the area within the radius of the dynamic positioning range, and to comprehensively calculate and adjust the heading and speed of the recreational fishing boat based on the water flow data and the relative relationship between the current position of the vessel and the target position.

[0134] The final positioning and holding unit is used to counteract the effects of water flow and maintain the dynamic positioning of the vessel by controlling the rotation direction and speed of the propeller when the distance between the recreational fishing vessel and the target position enters the area within the anchoring tolerance radius.

[0135] The cyclic judgment unit is used to trigger the heading and speed integrated adjustment unit if the distance between the recreational fishing boat and the target position is greater than the radius of the dynamic positioning range again during the dynamic positioning process.

[0136] In this embodiment of the invention, the method further includes: if the distance between the recreational fishing boat and the target location is less than or equal to a first preset distance value, obtaining the wind speed, wherein the first preset distance value is less than the anchoring tolerance radius; determining the duration for which the distance between the recreational fishing boat and the target location is less than or equal to the first preset distance value; when the duration reaches a preset time threshold, determining a low-energy consumption time interval based on the heading determination time interval, determining a low-energy consumption speed based on the propeller speed, and determining a low-energy consumption rudder propeller adjustment range based on the anchoring tolerance radius and the current positioning deviation; and performing corresponding adaptive low-energy consumption control operations based on the low-energy consumption time interval, the low-energy consumption speed, and the low-energy consumption rudder propeller adjustment range.

[0137] In this embodiment of the invention, if normal dynamic positioning control is used continuously, frequent ship maneuvers are required, resulting in high energy consumption. To further reduce energy consumption and improve user experience, the distance between the recreational fishing boat and the target location is monitored in real time. Once the distance is found to be less than or equal to a first preset distance value, for example, half of the anchorage tolerance radius, the positioning deviation is considered small, and frequent dynamic positioning control is unnecessary, thereby reducing energy consumption. Specifically, the duration for which the distance is less than or equal to the preset distance value is obtained. If the duration reaches a preset time threshold, the current ship positioning is determined to be relatively stable, and frequent manipulation is not required. Therefore, the original course determination time interval and propeller speed are adjusted, and adaptive low-energy control is performed according to the adjusted low-energy time interval, low-energy speed, and low-energy rudder propeller adjustment range, thereby effectively reducing energy consumption during the ship's dynamic positioning process.

[0138] The low-energy rudder propeller adjustment range is determined as follows: the permissible ship deviation range is appropriately widened from the anchorage tolerance radius c to... ,For example =1.2c; at the same time, the single correction angle of the rudder is limited to no more than the preset low-energy rudder angle, such as 5°, and the propeller speed is limited to a narrow range near the low-energy speed.

[0139] In this embodiment of the invention, by adaptively adjusting according to the ship's current actual positioning stability, energy consumption during dynamic positioning is effectively reduced, reserving more energy for users to ensure return and user experience, thus meeting the actual needs of customers.

[0140] In this embodiment of the invention, the method further includes: obtaining the area of ​​the fishing spot; determining whether the area of ​​the fishing spot is lower than a preset area threshold; if so, obtaining water flow velocity data and wind direction and speed data within a first preset time period; determining predicted water flow data and predicted wind direction and speed data within a second preset time period based on the water flow velocity data; determining compensated speed and rudder angle compensation values ​​based on the predicted water flow data and predicted wind direction and speed data; if the distance between the recreational fishing boat and the target location is between a second preset distance value and the anchorage tolerance radius, correcting the predicted water flow data and predicted wind direction and speed data based on the distance between the recreational fishing boat and the target location; if the distance between the recreational fishing boat and the target location is between a second preset distance value and a first preset distance value, performing corresponding compensation adjustment operations based on the compensated speed and rudder angle compensation values, wherein the second preset distance value is between the first preset distance value and the anchorage tolerance radius.

[0141] Specifically, the area of ​​the fishing spot is obtained. This area is determined in advance based on the geographical information from the on-site survey and the permitted fishing range. It is then determined whether the area of ​​the fishing spot is lower than a preset area threshold. If so, it can be determined that the current fishing spot area is small. In the event of a harsh environment, the above dynamic positioning method may not be able to meet the required positioning accuracy, causing the vessel to frequently wander in the current area and reducing the user experience.

[0142] Therefore, to solve the aforementioned technical problems, when the fishing spot area is small, water flow velocity data and wind direction and speed data are acquired within a first preset time period. Then, the trend of these two data points in the next second preset time period is predicted using the least squares method. For example, it is predicted that the water flow will increase by 0.3 m / s after 20 seconds, and the wind direction will deflect by 5°. At this time, based on the predicted water flow data and predicted wind direction and speed data, the compensation speed and rudder angle compensation values ​​are determined to offset this trend. For example, if the predicted water flow rate is 0.3 m / s, under downstream conditions, the speed is increased by a certain value in advance to offset the aforementioned changes and improve control accuracy.

[0143] Furthermore, after determining the compensation speed and rudder angle values, the distance between the recreational fishing boat and the target position is further monitored. If this distance is between the second preset distance value and the anchorage tolerance radius (for example, the second preset distance value is 0.8 times the anchorage tolerance radius), it can be determined that although the environment is relatively harsh, the current compensation parameters can still maintain stable dynamic positioning. Therefore, dynamic adjustment can be performed according to the compensation parameters. If the distance is between the second preset distance value and the first preset distance value, it indicates that the above compensation action may fail. Therefore, it is necessary to further perform corresponding compensation adjustment operations on the compensation speed and rudder angle values. For example, the prediction model can be corrected through iterative algorithms to ensure the accuracy of subsequent compensation. On this basis, further compensation optimization of the compensation speed and rudder angle values ​​can be achieved to realize more accurate and stable dynamic positioning.

[0144] In this embodiment of the invention, by further predicting and compensating for the ship's environmental conditions, and by monitoring and optimizing the effect of the predictive compensation in real time, the reliability and accuracy of the predictive compensation are effectively guaranteed, thus meeting the actual needs of customers.

[0145] Furthermore, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method of the embodiments of the present invention.

[0146] The optional embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above embodiments. Within the scope of the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within the protection scope of the embodiments of the present invention.

[0147] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not describe the various possible combinations separately.

[0148] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by controlling related hardware through a program. This program is stored in a storage medium and includes several instructions to cause a microcontroller, chip, or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory, random access memory, magnetic disk, or optical disk.

[0149] Furthermore, various different implementations of the present invention can be combined arbitrarily, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed in the present invention.

[0150] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for dynamic positioning of recreational fishing boats on water, characterized in that, Includes the following steps: Parameter setting steps: Determine the target location for the planned mooring of the recreational fishing boat, and set system parameters including the initial adjustment distance, dynamic positioning range radius, and mooring tolerance radius; Initial heading adjustment steps: When the recreational fishing boat sails to a distance from the target position that is equal to the initial adjustment distance, the heading is corrected based on the positional relationship between the target position and the extension line of the current heading of the recreational fishing boat; Comprehensive adjustment steps for heading and speed: When the recreational fishing boat enters the area within the radius of the dynamic positioning range, water flow data is collected, and based on the water flow data and the relative relationship between the current vessel position and the target position, the heading and speed of the recreational fishing boat are comprehensively calculated and adjusted. Final positioning maintenance steps: When the distance between the recreational fishing vessel and the target position enters the area within the anchorage tolerance radius, the rotation direction and speed of the propeller are controlled to counteract the influence of the water flow and maintain the dynamic positioning of the vessel. Loop judgment step: During the dynamic positioning process of the vessel, if the distance between the recreational fishing boat and the target position is greater than the radius of the dynamic positioning range again, then return to the course and speed comprehensive adjustment step.

2. The method for dynamic positioning of a recreational fishing boat on water according to claim 1, characterized in that, The parameter setting steps specifically include: Determine the coordinates of the target location where the recreational fishing boat is planned to be moored; An initial adjustment distance is set to trigger the initial course adjustment step when the recreational fishing boat sails to a distance equal to the target location. A dynamic positioning range radius is set to delineate a circular area centered on the target location point and with the dynamic positioning range radius as its radius. When the distance between the recreational fishing boat and the target location point is less than or equal to the dynamic positioning range radius, the heading and speed integrated adjustment step is triggered. An anchoring tolerance radius is set to delineate a circular area centered on the target location point and with the anchoring tolerance radius as its radius. When the distance between the recreational fishing boat and the target location point is less than or equal to the anchoring tolerance radius, the final positioning and holding step is triggered. Set a course determination time interval to obtain historical position data required for calculating the ship's real-time course.

3. The method for dynamic positioning of a recreational fishing boat on water according to claim 1, characterized in that, The course correction process includes: Obtain the current position of the recreational fishing vessel and its historical position before a preset course determination time interval; Based on the current vessel position and the historical vessel position, determine the current extended course of the recreational fishing vessel; Calculate the vertical distance from the target position to the extension of the current heading; Determine whether the vertical distance is less than the preset route tolerance; If the vertical distance is not less than the preset course tolerance, then the recreational fishing boat is controlled to make course corrections with a preset rudder angle based on the orientation of the target position relative to the extension of the current course.

4. The method for dynamic positioning of a recreational fishing boat on water according to claim 1, characterized in that, The process of collecting water flow data and, based on the water flow data and the relative position of the current vessel to the target position, comprehensively calculating and adjusting the course and speed of the recreational fishing boat includes: The direction and speed of water flow are detected in real time by sensors installed on the recreational fishing boat. The water flow direction and water flow velocity parameters are obtained as the water flow data; Based on the current ship position and the target position, calculate the distance component along the water flow direction and the distance component perpendicular to the water flow direction between the two. The still water speed of the recreational fishing boat is obtained, and the still water speed is decomposed into a velocity component along the water flow direction and a velocity component perpendicular to the water flow direction. Based on the distance component along the water flow direction, the distance component perpendicular to the water flow direction, the water flow velocity, and the preset planned time to sail to the target position, the target speed required for the recreational fishing boat is calculated. Control the recreational fishing boat to adjust its current speed to the target speed.

5. The method for dynamic positioning of a recreational fishing boat on water according to claim 1, characterized in that, The process of maintaining a ship's dynamic positioning by controlling the direction and speed of propeller rotation to counteract the effects of water flow includes: Determine the relationship between the current course of the recreational fishing boat and the direction of the water current; If the condition is determined to be downstream, the propeller is controlled to rotate in the opposite direction, and the propeller speed is adjusted so that the reverse speed generated by the recreational fishing boat is equal to the speed of the water flow. If the situation is determined to be against the current, the propeller is controlled to rotate in the forward direction, and the propeller speed is adjusted so that the forward speed generated by the recreational fishing boat is equal to the speed of the water flow.

6. The method for dynamic positioning of a recreational fishing boat on water according to claim 1, characterized in that, The specific process of the cyclic judgment step includes: Continuously monitor the current position of the recreational fishing vessel; Calculate the distance between the current ship position and the target position in real time; Determine whether the distance between the current ship position and the target position is greater than the radius of the dynamic positioning range; If the distance between the current ship position and the target position is greater than the radius of the dynamic positioning range, the ship will re-enter the course and speed adjustment step, correct the course with a preset rudder angle so that the bow points to the target position, and recalculate and adjust the speed based on the current water flow data and position relationship.

7. The method for dynamic positioning of a recreational fishing boat on water according to claim 1, characterized in that, The method further includes: If the distance between the recreational fishing boat and the target location is less than or equal to a first preset distance value, the wind speed is obtained, where the first preset distance value is less than the anchorage tolerance radius. The duration for which the distance between the recreational fishing boat and the target location is less than or equal to the first preset distance value; When the duration reaches a preset time threshold, a low-energy time interval is determined based on the heading determination time interval, a low-energy speed is determined based on the propeller speed, and a low-energy rudder propeller adjustment range is determined based on the anchor tolerance radius and the current positioning deviation. Based on the low-energy time interval, the low-energy speed, and the low-energy propeller adjustment range, corresponding adaptive low-energy control operations are performed.

8. The method for dynamic positioning of a recreational fishing boat on water according to claim 7, characterized in that, The method further includes: Obtain the area of ​​the fishing spot; Determine whether the area of ​​the fishing spot is lower than a preset area threshold; If so, obtain the water flow velocity data and wind direction and speed data within the first preset time period; Based on the water flow velocity data, predictive water flow data and predictive wind direction and speed data are determined within the second preset time period; The compensated speed and rudder angle compensation values ​​are determined based on the predicted water flow data and the predicted wind direction and speed data. If the distance between the recreational fishing boat and the target location is between the second preset distance value and the anchorage tolerance radius, the predicted water flow data and the predicted wind direction and wind speed data are corrected based on the distance between the recreational fishing boat and the target location. If the distance between the recreational fishing vessel and the target location is between the second preset distance value and the first preset distance value, a corresponding compensation adjustment operation is performed based on the compensated speed and the rudder angle compensation value, wherein the second preset distance value is between the first preset distance value and the anchoring tolerance radius.

9. A dynamic positioning device for recreational fishing boats, used in the dynamic positioning method for recreational fishing boats as described in any one of claims 1-8, characterized in that, The device includes: The parameter setting unit is used to determine the target location for the planned mooring of recreational fishing boats and to set system parameters including the initial adjustment distance, dynamic positioning range radius, and anchoring tolerance radius. An initial course adjustment unit is used to correct the course based on the orientation relationship between the target position and the extension line of the current course of the recreational fishing boat when the recreational fishing boat sails to a distance equal to the initial adjustment distance. The heading and speed integrated adjustment unit is used to collect water flow data when the recreational fishing boat enters the area within the radius of the dynamic positioning range, and to comprehensively calculate and adjust the heading and speed of the recreational fishing boat based on the water flow data, the relative relationship between the current position of the vessel and the target position. The final positioning and holding unit is used to counteract the influence of water flow and maintain the dynamic positioning of the vessel by controlling the rotation direction and speed of the propeller when the distance between the recreational fishing vessel and the target position enters the area within the anchoring tolerance radius. The cyclic judgment unit is used to trigger the heading and speed integrated adjustment unit if, during the dynamic positioning process of the vessel, the distance between the recreational fishing boat and the target position is again greater than the radius of the dynamic positioning range.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the method described in any one of claims 1-8.

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