JPH0363523A - Autonomous navigation guidance device - Google Patents

Abstract

PURPOSE:To enable course deflection which has no overshoot by providing a data processor, an operation indication device, a navigation data input device, a current ship position measuring instrument, a gyrocompass, a ship speed detection log, and an automatic steering device. CONSTITUTION:Waterway data are inputted as an enumeration of course deflection points in longitude and latitude from a data input device 3 to a data processor 1 and ship position data are inputted momentarily from the position measuring instrument 4 such as a satellite navigation device or radio navigation device, so that the distance (d) to a next course deflection point is calculated according to those data. On the other hand, course data and ship speed data are inputted from the gyrocompass 5 and log 6 respectively and control parameters are inputted from the automatic steering device 7, so that a new course distance D is calculated according to those data. Consequently, the large/small relation between the distances (d) and D is monitored continuously and when d <=D, a course deflection start warning and a new course are outputted to the operation indication device. This new course is sent to the automatic steering device 7 to perform course deflection.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an autonomous navigation guidance system applied to a navigation course change support system.

[Conventional technology]

Conventionally, the timing of changing course has only been decided based on the experience and intuition of the captain and navigator. It wasn't known.

[Problem to be solved by the invention]

The problem of the present invention is to change the timing for starting a course change, which was conventionally performed based on the experience and intuition of the ship operator, from the ship's maneuvering motion characteristic data, the control parameters of the automatic steering system, and the amount of course change. An object of the present invention is to provide an autonomous navigation guidance system that makes decisions based on data and enables smooth course changes without overshoot.

[Means to solve the problem]

The autonomous navigation guidance system according to the present invention includes a data processing device that calculates the timing to start a course change operation, an operation instruction device that transmits the timing and the new course to an operator, and a data input device that inputs route data. , a positioning device that recognizes the current ship position, a gyro compass that detects the course, a log that detects the ship speed, and an automatic steering device that executes steering control.

[Effect]

According to the present invention, the new course distance is calculated based on the ship's maneuverability data, the control parameters of the automatic steering system, and the operation data (vessel speed and course change), and a warning to start the course change is issued at a point before the change of course point. This makes it possible to change the course without overshooting, and also makes it possible to recognize the ship's position by a support device by connecting a positioning device such as a satellite navigation device or a radio navigation device. By combining this with the above command, the ship operator's confirmation command wave course change operation is automatically executed.

〔Example〕

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention, where I is a data processing device, 2 is an operation instruction device, 3 is a data input device, 4 is a positioning device, 5 is a gyro compass,
6 indicates a log, and 7 indicates an automatic steering device.

In the M1 diagram, route data is input to the data processing device I from the data input device 3 as a row of waypoints based on latitude and longitude, while ship position data is sometimes input from the positioning device 4 such as a satellite navigation device or a radio navigation device. It is inputted moment by moment. Based on these data, the distance d to the next waypoint is calculated. On the other hand, course data and ship speed data are input from the gyro compass 5 and log 6, respectively, and control parameters are input from the automatic steering device 7, and a new course distance is calculated based on these data.

The magnitude relationship between these distances d and D is continuously monitored, and when d≦D, a course change start warning and a new course are output to the operation instruction device 2. Further, there is a confirmation switch on the operation instruction device 2, and after receiving a confirmation signal for starting the course change from the vessel operator, the new course is sent to the automatic steering device 7, and the course change is executed.

Next, based on FIG. 2, a method of calculating the new course distance in one embodiment of the present invention will be described in detail.

It is assumed that the heading direction of the ship before changing course is the positive direction of the X-axis, and that changing course is started at the starting point (origin) IO. Due to inertia, the ship's wake 11 traces an arc, and eventually moves straight in the new course direction. The distance between this new course direction (the intersection point of the asymptote z2 and the X-axis) 13 and the origin IO is the new course distance, and its calculation is also executed through the above processing steps.

The ship's yaw angle Δψ and crossflow angle β in the ship's maneuvering motion are each found as solutions of the following equations.

TIT, Δψ+(T, +Tt) Δψ+Δψ=K(δ+T
, the ship speed is U, the difference between the new course and the original course, that is, the course change amount is ΔψS, and the control law of the automatic steering system is given by FD control δ=-Kp(Δψ-Δψ,)-KIS. The X coordinate of point 13, ie, the new course distance, is expressed by the following equation.

As a result of the above-mentioned actions, when the ship approaches the waypoint, a warning to start changing course is issued, and the course change is executed after receiving confirmation from the ship operator. By repeating this process for each waypoint, the ship is guided along the route.

In addition, the explanation of each variable in the above formula is as follows.

T, , T, : Time constant K of the ship's bowing motion and side drift motion = Gain indicating the strength of the rudder effect in the ship's bowing motion: Rudder angle: Indicating the strength of the rudder movement speed on the bowing motion Parameter (ratio to the effect of the rudder angle): Gain T, β, which indicates the strength of the rudder effect in the ship's cross-flow motion Parameter (ratio to the effect of the rudder angle) ): proportional gain of the autopilot: differential gain δT of the autopilot.

Intermediate parameter bβ calculated from Kβ a/a or more parameters: Same as above FIG. 3 is a flowchart showing the control contents of the data processing device in one embodiment of the present invention.

〔Effect of the invention〕

According to the present invention, in a ship 1 sailing while maintaining a course, by preventing overshading of the course at a waypoint, fuel efficiency is improved by preventing an increase in the course, and grounding is achieved by faithfully maintaining the course. It is possible to prevent such dangers.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention;
FIG. 2 is a diagram for explaining the operation of an embodiment of the present invention;
FIG. 3 is a flowchart showing the operation of one embodiment of the present invention. ! ...data processing device, 2...operation instruction device, 3.
...Data input device, 4...Positioning device, 5...Gyro compass, 6...Log, 7...Automatic steering device.

Claims (1)

[Claims] a data processing device that calculates the timing to start a course change operation, an operation instruction device that communicates the timing and the new course to an operator, a data input device that inputs route data, and a positioning device that recognizes the current ship position; An autonomous navigation guidance device comprising: a gyro compass that detects a course; a log that detects a ship's speed; and an automatic steering device that performs steering control.