14 results about "Relative bearing" patented technology

The invention discloses a fishing boat impact force prediction method based on AI, and belongs to the technical field of fishing boat impact, and the method comprises the steps: constructing a multi-boat motion state data set; calculating a relative distance and a relative azimuth angle of each pair of fishing boats according to the multi-boat motion state data set, and extracting a distance change rate and an azimuth angle change rate; if the relative distance of each pair of fishing boats is lower than a preset safety distance threshold value, the collision risk probability of each pair of fishing boats is obtained in combination with the azimuth angle change rate; the collision force is predicted through the collision risk probability; according to the impact force value and the collision risk probability, generating a collision risk level of each boat, and dynamically grouping the fishing boats to obtain an optimized formation structure; and according to the optimized formation structure, the avoidance course adjustment angle and speed variation of each ship are calculated, an emergency avoidance instruction is generated, and the executed multi-ship cooperative motion state is obtained. According to the invention, intelligent collaborative collision avoidance of the fishing boat group is realized, and the safety of marine navigation is obviously improved.

The invention discloses an underwater high-maneuverability target tracking method based on'tracking-control 'combined design, the application object of the method is a multi-submersible-vehicle cooperative system, and the method comprises the following steps: S1, finding a target, starting tracking, and enabling the multi-submersible-vehicle cooperative system to maintain azimuth rigid formation navigation; s2, the navigator submersible vehicle obtains the relative azimuth information of the navigator submersible vehicle and the target at the current moment; S3, the navigator submersible vehicle receives a signal sent by the follower submersible vehicle and records the arrival time difference of the direct path and the target reflection path; s4, the navigator submersible vehicle carries out target position prediction; s5, the navigator submersible vehicle carries out target position correction; and S6, the navigator submersible vehicle calculates the current target position estimation. According to the method, the interactive multiple models and historical position and azimuth measurement information are combined, and the accuracy and robustness of position prediction are effectively improved.

The invention relates to the technical field of submarine optical cable burying, in particular to a submarine optical cable curve burying ship position line planning method and system based on parameterization calculation. The method comprises the following steps: setting a routing point and a steering point, determining the radius of an internally tangent turning circle, and enabling the internally tangent turning circle to be respectively tangent to the point; calculating the horizontal towing distance of the burying plough; respectively extending from the tangent points along the extension direction of the route to obtain the stern position at the beginning of steering and the stern position at the end of steering, and calculating the radius of the ship position circle; and calculating a ship head direction change angle arc length, a ship true course, a ship relative azimuth angle and a ship moving distance when the ship moves in the true azimuth angle each time when the ship moves each time, and finally completing the calculation of the embedded ship position when the ship steers. The technical problems that in the prior art, submarine optical cable steering and burying depend on visual observation and past experience of an operator, so that precision is poor, and the burden of the operator is heavy are effectively solved.

The invention provides a ship navigation simulation test method, device and equipment. The method comprises the following steps: acquiring a simulation test function scene; according to the simulation test function scene, randomly sampling a to-be-tested scene sequence to obtain relative parameters of the accompanying test ship; the relative parameters comprise at least one of a relative direction, a nearest meeting point distance, a navigation speed and a sensing distance; according to the relative orientation and the nearest meeting point distance, the relative course of the accompanying measurement ship is obtained; obtaining the absolute course of the accompanying ship according to the relative course and the navigation speed; obtaining a generation position of the accompanying measurement ship according to the relative orientation and the sensing distance; according to the generation position and the absolute course, adding a test accompanying ship in a simulation test; and according to the update position of the accompanying test ship, determining the exit time of the accompanying test ship, and obtaining a test result. According to the invention, the efficiency, credibility, feasibility and applicability of the ship navigation simulation test can be improved.

The invention discloses a master-slave USV collaborative navigation method based on corner network condition adjustment, belonging to the technical field of autonomous underwater navigation. The method comprises the following steps: using a strapdown inertial navigation system to obtain the navigation state of a USV to be positioned at an initial moment; the USV to be positioned receives the current position shared by data of other USVs in a USV formation and converts the current position into two-dimensional coordinates; the USV to be positioned obtains relative distance measurement information and relative azimuth angle between the USV to be positioned and other USVs according to equipped sensors; establishes a state equation and a measurement equation describing the USV to be positioned; establishes a corner network condition adjustment mathematical model; processes measurement vectors to obtain measurement vector adjustment values ​​and variance matrices thereof; sets an observation noise variance matrix; and performs measurement update in combination with DVL speed measurement information. The invention adopts the master-slave USV collaborative navigation method based on corner network condition adjustment to achieve high-precision estimation and collaborative correction of the navigation state of the USV to be positioned.

The application relates to the technical field of marine orientation sensing of ships, and discloses a ship marine target sensing method and system based on machine vision, which comprises the following steps: using an AD-YOLOv9 algorithm to process incoming image information, obtaining position information and category information of a target image; establishing a coordinate system according to the position information of the target image, marking a target on the target image by using a target prediction box, determining the center point coordinates of the target prediction box based on a deep learning network to determine the center point coordinates of the target, and associating the bow of the ship to determine the absolute orientation and the relative orientation of the target; determining the position of the target relative to the reference point of the ship to determine the direction angle of the target; determining a straight line where the center point of the target and the reference point of the ship are located according to the direction angle of the target, and recording the straight line as a target direction line; calculating and formatting the angle label of the target according to the target direction line, and selecting a position on the target direction line to draw angle label information; and displaying the processed target image.

The present invention discloses an AI-based prediction method for the impact force of fishing boats, belonging to the technical field of fishing boat impacts, including: constructing a multi-ship motion state data set; calculating the relative distance and relative azimuth angle of each pair of fishing boats according to the multi-ship motion state data set, and extracting the distance change rate and azimuth angle change rate; if the relative distance of each pair of fishing boats is lower than the preset safe distance threshold, combining with the azimuth angle change rate to obtain the collision risk probability of each pair of fishing boats; predicting the impact force through the collision risk probability; generating the collision risk level of each ship according to the impact force value and the collision risk probability, and dynamically grouping the fishing boats to obtain an optimized formation structure; calculating the avoidance course adjustment angle and speed change amount of each ship according to the optimized formation structure, generating an emergency avoidance instruction, and obtaining the multi-ship cooperative motion state after execution. The present invention realizes the intelligent cooperative collision avoidance of fishing boat groups and significantly improves the safety of maritime navigation.

A method and system for determining a refined absolute position and refined absolute orientation of an entity in a navigation space is provided. The system includes a plurality of sensors, a coarse absolute position and orientation estimation unit to determine a coarse absolute position and / or a coarse absolute orientation, of entity based on a position data captured by sensors at predefined frequency / interval, a relative position and orientation estimation unit to determine a relative position and / or a relative orientation, of the entity based on a set of data captured from sensors, a navigation guidance unit to provide and update unique attributes of the navigation space, and an analytics unit to determine refined absolute position or refined absolute orientation of the entity by fine tuning: the coarse absolute position based on relative position and the coarse absolute orientation based on relative orientation using the navigation map.

The present invention provides a global cooperative collision avoidance method in a mixed traffic environment of manned ships and unmanned ships, including: obtaining the navigation information of all ships within the global scope; calculating the ship motion parameters according to the navigation information of the ships, where the ship motion parameters include the distances between ships, the minimum encounter distance, and the shortest encounter time; using the five-factor weighting method to calculate the collision risk between ships according to the distances between ships, the minimum encounter distance, the shortest encounter time, the relative bearing, and the ship speed ratio; determining whether the global collision risk is greater than a threshold value. If it is greater than the threshold value, the improved NSGA-II algorithm is used to calculate the global collision avoidance decision. If it is less than the threshold value, no collision avoidance operation is required and the ship sails straight normally. The present invention can solve the problem of multi-ship cooperative collision avoidance in a mixed traffic environment of manned ships and unmanned ships, and improves the navigation economy on the premise of ensuring the navigation safety of ships.

The invention provides an intelligent ship navigation method, device and equipment and a storage medium. The method is applied to an intelligent ship navigation system comprising a dynamic environment modeling module and a deep reinforcement learning model. The method comprises the following steps: the dynamic environment modeling module obtains wind speed, wave height and ocean current speed data, and calculates a threat index in combination with a ship structure and a loading state; the deep reinforcement learning model converts the threat index into an environmental risk entropy value, the environmental risk entropy value, the relative azimuth angle, the DCPA and the TCPA form a state space, a rule compliance indicator is set in a reward function, and an action conforming to the COLREGs rule is stimulated; and finally, the model outputs a control instruction sequence of the course correction delta psi and the speed correction delta V according to the information. According to the method, the adaptability, the real-time performance and the precision of navigation under complex sea conditions are remarkably improved.

The application relates to the technical field of ship navigation positioning, and particularly discloses a small ship combined positioning method and system under GNSS failure conditions, which is applied to a ship formation comprising at least one reference ship carrying a long-time INS and at least one small ship carrying a short-time INS, and comprises the following steps: collecting reference ship positioning reference data through the long-time INS; collecting the relative distance between the small ship and the reference ship, the relative azimuth under the ship body coordinate system, and obtaining the ship body attitude data through the short-time INS; calculating the relative position and posture values under the northeast celestial coordinate system; obtaining the predicted position and speed of the small ship through track prediction; obtaining the optimal relative coordinates of the small ship relative to the reference ship through Kalman filtering fusion model and iterative solution; and calculating the position coordinates of the small ship. The high-precision long-time INS of the nearby large ship is used to realize accurate positioning of the small ship.

The invention discloses a USBL-based deep sea routing deviation early warning method and system, and the method comprises the steps: carrying out the installation deviation calibration and sound velocity profile calibration of a USBL transducer array, and carrying out the time synchronization of all sensors; original data of an underwater target is collected for abnormal value detection and signal filtering; the relative orientation of a target is calculated based on the phase difference of the USBL transducer array, the distance of the target is calculated through sound wave round-trip time, and the position in a USBL coordinate system is converted into absolute latitude and longitude coordinates in combination with IMU attitude data and GPS position data; vertical deviation, look-ahead deviation and depth deviation are calculated through a routing deviation detection algorithm, and deviation calculation precision is optimized by combining an adaptive filtering algorithm, an installation deviation joint calibration algorithm and a multi-source data fusion result; and generating corresponding early warning information and starting a system adaptive adjustment mechanism. According to the method, redundant operation in the deviation calculation process is reduced, the data processing precision is improved, and early warning and precise monitoring of the underwater vehicle routing deviation are achieved.

This invention relates to the field of submarine optical cable laying technology, and particularly to a method and system for planning the berth line of submarine optical cable curved laying based on parametric calculation. The method includes: setting a route and turning point; determining the radius of the inscribed turning circle, with the inscribed turning circle tangent to points A and B respectively; calculating the horizontal towing distance of the laying plow; extending from the tangent point along the extension direction of the route A and B respectively to obtain the stern position at the start of the turn and the stern position at the end of the turn, and calculating the radius of the berth circle; calculating the arc length of the ship's heading change angle, the ship's true course, the ship's relative bearing angle, and the distance the ship moves with each movement, ultimately completing the calculation of the berth position during the ship's turn. This invention effectively solves the technical problem in the prior art where submarine optical cable turning and laying relies on the operator's visual observation and past experience, resulting in poor accuracy and a heavy operator burden.

The invention provides a ship dynamic window local path planning method fused with navigation rules, and belongs to the technical field of intelligent path planning. The method mainly comprises the steps of constructing a kinematic model of a ship; speed sampling is carried out, sampling speeds are screened, and an effective speed combination without collision risks is reserved; based on a kinematics model, motion simulation is carried out on the screened effective speed combination, and a plurality of simulation paths are generated; a situation judgment function is constructed, and the encounter situation is judged through the relative orientation and the course difference value; a risk function is constructed, the risk degree between the ship and the obstacle is judged, and the encounter situation is locked; and constructing an evaluation function in a dynamic window method, obtaining scoring results of the simulation paths, comparing the scoring results of all the simulation paths, and selecting a ship driving path of the next time step. The method has high efficiency, stability and accuracy in processing complex dynamic meeting scenes, and can provide reliable path planning support for autonomous navigation safety and intelligent decision making of ships.