JPS63201805A - Sea route holding device - Google Patents

Abstract

PURPOSE:To eliminate unnecessary course change at a course change point to execute rational change by setting and updating the course so that a smooth wake is described. CONSTITUTION:A sea route 3 is inputted from a data input device 21 and is stored in a sea toute storage device 22. A course setter 23 determines a target point 7 on the sea route 3 in accordance with a ship position 1 recognized by a ship position estimating device 24 as the present position estimating device, the sea route 3 stored in the sea route storage device 22, and a distance R to the target point which is designated through the data input device 21 and obtains an azimuth from the ship position 1 to the target point 7 to set a course. This set course is inputted to a automatic pilot 25 and is compared with present course data detected by a gyrocompass 28 to synthesize a steering command signal. A steering device 26 drives a rudder based on the steering command signal to move a ship 27.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a course-keeping device applied to an automatic navigation system for ships or aircraft.

[Conventional technology]

FIG. 3 is a diagram illustrating the operation of a conventional route keeping device. Conventionally, when the ship 1 deviates from the route 3, the course is set so that it either heads for the next waypoint 4 or returns to the route 9 after a certain period of time.

In addition, in order to prevent unreasonable changes of course near the waypoint 4, restrictions are placed on the angle at which the waypoint 4 is viewed. He was setting a course to head towards.

[Problem that the invention seeks to solve]

The problems of the prior art will be explained by taking as an example a case where the ship 1 leaving the route 3 in FIG. 3 moves straight toward the waypoint 4. When it is determined that the ship has deviated from the route 3 near the waypoint 2, a course toward the waypoint 4 is set, and the ship changes course to the port side. Furthermore, when waypoint 4 is reached, the course toward the next waypoint 5 is recalculated, and the course is changed to starboard, resulting in repeated changes in the opposite direction of port and starboard in a short period of time. There is a point. This is unreasonable for the boat operator, and he should immediately change course at point 2 in the direction of the next waypoint 5. What was introduced for this purpose was a 1° fan shape, and since position 2 was located outside of this, the course was set so as to head toward the next waypoint 5. However, since position 2 is also located outside of the sector 11 having the waypoint 5 as its apex, the course will be changed further toward the next waypoint 6.

If this jump is repeated, the target will advance to the next waypoint one after another, and if the route 3 is a route that bypasses the shallow water 12, there is a problem that it may lead to a grounding accident. If changing course is prohibited outside the sector 10, there is no problem like this, but
After the ship passes way point 4 while maintaining the current status, the next way point 5 is reached.
The disadvantage is that a reasonable course change at position 2 is not carried out because the course towards position 2 is reset.

[Means for solving problems]

To this end, the route keeping device of the present invention includes a data input device for inputting data such as the route of a ship or aircraft, a route storage device for storing the input route, and a current position estimating device for estimating the current position. Among the intersections of arcs drawn with a predetermined radius centered on the estimated current position for a given route, the one closest to the end of the route is set as the preceding target point, and the course direction is always directed toward this target point. It is equipped with a course setting device that calculates the course in a similar manner, and is characterized by being able to maintain a smooth course under any circumstances.

[Effect]

With the above configuration, the course is set and updated to prevent sudden course changes and draw a smooth track.It also eliminates unnecessary course changes near the waypoints and reasonably calculates a new course by anticipating the shape of the route. It is possible to obtain a course keeping device that is set.

〔Example〕

An embodiment of the present invention will be explained with reference to the drawings. FIG. 1 is a block diagram thereof, and FIG. 2 is an explanatory diagram of its operation. 1st
In the figure, a route 3 is input from a data input device 21 and stored in a route storage device 22. The course setting device 23 calculates the ship position 1 recognized by the ship position estimating device 24 as a current position estimating device, the route 3 stored in the route storage device 22, and the distance R to the designated target point via the data input device 21. The target point 7 on the route 3 is determined from the ship position 1, and the direction from the ship position 1 to the target point 7 is determined and used as the set course. This set course is input to the autopilot 25 and compared with the current course data detected by the gyro compass 28 to synthesize a steering command signal/signal. The steering device 26 drives the rudder based on the steering command signal to cause the ship 27 to move.

Among the movements of the ship 27, the course is detected by the gyro compass 28 and input to the autopilot 25 and the ship position estimation device 24. On the other hand, the ship speed and ship position are detected by the speed log 29 and the positioning device 30, respectively, and the ship position estimation device 2
This is used for the ship position estimation calculation in step 4.

Next, the operation of the course setting device, which is the main part of the present invention, will be explained in detail.

When the ship is located at point 1 in Figure 2, this position 1
The point 7 closest to the end point of the route among the intersections of the route 3 and a circle with radius R centered on is set as the target □ point. Furthermore, current ship position 1
The direction from to the target point 7 is passed to the autopilot 25 as a set course. The above processing is executed at regular intervals or when a new ship position is determined by the positioning device 30. For example, when the ship moves from point 1 to 1a, the first marker point 7 also moves to 7a, and as a result, the new set course becomes a direction from point 1a to target point 7a, approaching the direction of the navigation route. By repeating this, the ship is smoothly returned to the route.

Here, the radius R is manually input through the data input device 21, but when the distance d between the ship and the route is close to R, the course is set to a value close to perpendicular to the route 3. Also, when d is larger than R.

Target point 7 does not exist. Therefore, the reference value d of d.

(1) If d≦d: R - manually input value (2)
If d > do: R - the distance between point 1 and the next waypoint 4, and by constantly repeating this determination, d) d
In the case of o, the direction toward the next waypoint 4 can always be set as the course.

On the other hand, if the ship is located at point 2 near the waypoint, the target point is set at point 8 between waypoint 4 and waypoint 50, and in order to pass waypoint 4, the set course is directed from point 2 to point 8. Then, the course is changed to suit the shape of the route. Moreover, in this case, unreasonable phenomena such as skipping of waypoints do not occur.

〔Effect of the invention〕

In short, according to the present invention, if a ship or aircraft is detected to be deviating from the route while traveling straight, a sudden course change can be prevented, and the ship or aircraft can be returned to the route while drawing a smooth arc. . In addition, wasteful course changes such as two-step course changes near the course point can be eliminated, and course changes can be carried out in an appropriate and rational manner both in terms of the new course and the timing of the course change.

Furthermore, it is possible to eliminate the risk of running aground due to overshooting the waypoint, which is one of the conventional techniques.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is an explanatory diagram of its operation. FIG. 3 is an explanatory diagram of the operation of the conventional one. 1.1a, 2...ship position, 3...route, 4.5.6...
Waypoint, 7.7a, 8...Target point on route, 9...
・Target point on the route, 1o, 11... Fan-shaped (route return area), 12... Shallow water, 21... Denitor input device, 22
...Route storage device, 23...Course setting device, 24...
Ship position estimation device, 25...Autopilot, 26...
Steering device, 27. Ship (maneuvering motion), 28... Gyro compass, 29... Speed log, 30... Positioning device.

Claims (1)

[Claims] A data input device that inputs data such as the route of a ship or aircraft, a route storage device that stores the input route, and a current position estimation device that estimates the current position. A course setting device that calculates the course by setting the one near the end of the route as the leading target point among the intersections of arcs drawn with a predetermined radius centered at the position, and calculating the course so that the course direction always points to this target point. 1. A route keeping device characterized by comprising the following: and capable of maintaining a smooth route under any circumstances.