5 results about "Relative bearing" patented technology

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.