阅读说明：本技术 一种基于网格参考航向的控制河段船舶上下水判定方法 (Method for judging water supply and discharge of controlled river reach ship based on grid reference course ) 是由 梁山 蔡章利 刘康路 吴非 王德军 毛雄磊 于 2021-08-24 设计创作，主要内容包括：本发明公开了一种基于网格参考航向的控制河段船舶上下水判定方法,属于智能航运与船舶导航应用领域。所述方法包括：以控制河段的计算范围和航道里程线坐标为基础,结合控制河段实际情况和二维数组优势,将控制河段网格化并建立索引,同时以网格中心点为坐标,计算网格距离临近航道里程线的位置,然后利用航道里程线参考航向计算各网格的参考航向。通过该方法,将控制河段内船舶AIS的经纬度进行坐标变化即可得到网格索引,利用网格参考航向进行船舶上下水判定,提供给指挥系统用于指挥,为航道内的船舶指挥提供有力依据,提高指挥系统的工作效率和准确率,为船舶安全航行提供保障。(The invention discloses a method for judging whether a ship in a river reach gets on or off the water based on a grid reference course, and belongs to the field of intelligent shipping and ship navigation application. The method comprises the following steps: based on the calculation range of the control river reach and the channel mileage line coordinates, combining the actual situation of the control river reach and the advantages of the two-dimensional array, gridding the control river reach and establishing an index, meanwhile, taking the grid center point as the coordinate, calculating the position of the grid distance close to the channel mileage line, and then calculating the reference course of each grid by using the channel mileage line reference course. By the method, the grid index can be obtained by changing the coordinates of the longitude and the latitude of the ship AIS in the controlled river reach, the ship water-feeding and water-discharging judgment is carried out by utilizing the grid reference course, and the grid reference course is provided for a command system for commanding, so that powerful basis is provided for commanding the ship in the channel, the working efficiency and the accuracy of the command system are improved, and the guarantee is provided for safe navigation of the ship.)

1. A method for judging whether a ship at a controlled river reach gets on or off water based on a grid reference course is characterized by comprising the following steps:

step 1: reading a calculation range of the control river reach, wherein the data comprises maximum longitude, minimum longitude, maximum latitude and minimum latitude of the calculation range;

step 2: reading channel mileage line data in a control river reach, wherein the data comprises channel mileage kilometer number, channel mileage line left side point longitude and latitude (according to water flow direction), channel mileage line right side point longitude and latitude (according to water flow direction) and channel mileage reference course;

and step 3: and (4) gridding the controlled river reach and establishing an index by combining the artificially determined grid spacing according to the calculation range obtained in the step (1). Establishing a coordinate system by taking the minimum longitude and latitude coordinate of the calculation range of the control river reach as an origin, taking longitude as an X axis and latitude as a Y axis, and establishing a coordinate system index by taking grid spacing as a unit variable;

and 4, step 4: calculating the specific position of the controlled river reach of each grid according to the channel mileage line coordinates obtained in the step 2 and by combining the coordinates of the central point of each grid;

and 5: and calculating the reference course of the grids according to the specific position of the control river reach where each grid is located.

Step 6: and converting the longitude and latitude of the ship into a grid index to obtain the water supply and drainage of the ship.

2. The method of determining the location of a vessel in a controlled river reach based on a grid according to claim 1, wherein: in step 3, the model for establishing indexes for the grids is as follows:

the grid index is (x, y), the lon represents grid center longitude, the lat represents grid center latitude, and the lon represents grid center latitude_minRepresenting the minimum longitude of the calculation range, said lat_minRepresents the minimum latitude and the interval represents the grid spacing.

In step 4, the specific position of the controlled river reach where the grid is located is obtained as follows:

step 4.1: converting left side points and right side points of the channel mileage line into corresponding grid indexes;

step 4.2: calculating the distance from the grid in the rectangular range formed by the mileage lines of the adjacent channels to the mileage line of the previous channel, and setting the distance in the gridThe longitude and latitude of the center point is (lon, lat), the linear equation of the path mileage line is Ax + By + C is 0, and the distance d is₁The calculation formula of (2) is as follows:

step 4.3: calculating the distance d from the grid in the rectangular range formed by the mileage lines of the adjacent channels to the mileage line of the next channel₂；

Step 4.4: calculating the specific position of the grid in the control river reach in the rectangular range formed by the mileage lines of the adjacent channels, and setting the specific position of the current grid in the ranges of the mileage lines of the channels n km and (n-1) km to be d ═ n-d (n-d)₁/(d₁+d₂))；

In step 5, the implementation manner of obtaining the grid reference course is as follows:

step 5.1: setting the reference course of the current grid at the position of a channel mile line n KM within the range of the channel mile lines n KM and (n-1) KM as c_nThe reference course at the channel mile line (n-1) km is c_n-1；

Step 5.2: because the reference course has a closed characteristic, the course needs to be preprocessed to a certain extent, when c_nAnd c_n-1When the absolute value of the difference is greater than 9, it is considered that there is a situation of 36 crossing between two data, and the reference data between 0 and 8 needs to be added with 36 before subsequent processing;

step 5.3: using d calculated in step four, the reference heading c of the grid is c_n+(n-d)(c_n-1-c_n) If c is greater than 35, c is c-36, and c is the reference heading of the grid;

in step 6, the ship water supply and discharge determination is realized as follows:

step 6.1: the longitude and latitude are used for solving a grid index, the longitude and latitude are (lon, lat), the grid index is (x, y), and the conversion model is as follows:

step 6.2: and obtaining the reference course of the grid where the ship is located by utilizing the grid index.

Step 6.3: comparing the real course of the ship with the grid reference course, and if the absolute difference between the real course and the water-feeding reference course is less than a threshold value, determining that the ship is a water-feeding ship; if the absolute difference between the reference course and the launching reference course is smaller than a threshold value, the ship is a launching ship; otherwise, the judgment result of the ship is obtained.

Technical Field

The invention belongs to the field of application of intelligent shipping and ship navigation, and particularly relates to a method for judging whether a ship in a controlled river reach gets on or off the water based on a grid reference course.

Background

The Yangtze river is the first big river in China and is called a 'golden waterway'. The overall structure of the whole river basin is formed by radiating the whole river basin on the basis of the main national port as the backbone and the important regional port as the basis, and the well-prepared river and sea transportation systems such as containers, iron ores, coal and the like and the specialized transportation systems such as automobile rolling and liquefied products are formed, so that the water-way transportation channel is the only water-way transportation channel running through the east, middle and west regions in China, and is also the core of the Yangtze river transportation channel of the national comprehensive transportation system, and the important support for the construction of the Yangtze economic zone is formed.

As the Yangtze river has a narrow river reach with a large beach and a large water-jet, the part of the river reach only allows ships to pass in one direction, and therefore, the ships need to participate in command manually. The current command mode is based on a mode of assisting a signaler for controlling an intelligent traffic command system of a signal station at a river reach, so that intelligent command is carried out on passing ships. The intelligent auxiliary command mode can actively master the passing ship dynamics and automatically generate the passing command record.

In intelligent command, the judgment of ship launching and launching is very important, the whole command is disordered due to wrong judgment of launching and launching, and the judgment of the existing intelligent command system is judged based on a flight path line. The basic idea of the judging method is that continuous dotting is carried out in the navigable line area of the Yangtze river channel manually to form a navigation track line, after the ship enters the range, two points closest to the current ship are searched, and judgment is carried out by calculating the included angle between the direction of the ship and the ground course of the ship. The existing method for manually drawing the main track line does not consider the actual navigation condition of the ship according to the direction of the river channel, and the manually drawn direction has certain error, the water flow direction in the channel is complex, and the actual navigation direction of the ship is influenced, so the accuracy of the judgment mode of taking the tangential direction of the track line as the navigation judgment direction is not high.

The invention aims to provide a method for judging whether a ship at a controlled river reach gets on or off the water based on a grid reference course. By the method, the grid index can be obtained by changing the coordinates of the longitude and the latitude of the ship AIS in the controlled river reach, and then the up-and-down water judgment is carried out by utilizing the grid reference course and the real course of the ship, and the grid reference course and the real course of the ship are provided for a command system for commanding, so that a powerful basis is provided for commanding the ship in the channel, the working efficiency and the accuracy of the command system are improved, and the safe navigation of the ship is guaranteed.

Disclosure of Invention

In order to solve the problems in the prior art and achieve the purpose, the invention provides a method for judging whether a ship at a controlled river reach gets on or off the water based on a grid reference course. The technical scheme is as follows:

step 1: reading a calculation range of the control river reach, wherein the data comprises maximum longitude, minimum longitude, maximum latitude and minimum latitude of the calculation range;

step 2: reading channel mileage line data in a control river reach, wherein the data comprises channel mileage kilometer number, channel mileage line left side point longitude and latitude (according to water flow direction), channel mileage line right side point longitude and latitude (according to water flow direction) and channel mileage reference course;

and step 3: and (4) gridding the controlled river reach and establishing an index by combining the artificially determined grid spacing according to the calculation range obtained in the step (1). Establishing a coordinate system by taking the minimum longitude and latitude coordinate of the calculation range of the control river reach as an origin, taking longitude as an X axis and latitude as a Y axis, and establishing a coordinate system index by taking grid spacing as a unit variable;

and 4, step 4: calculating the specific position of the controlled river reach of each grid according to the channel mileage line coordinates obtained in the step 2 and by combining the coordinates of the central point of each grid;

and 5: and calculating the reference course of the grids according to the specific position of the control river reach where each grid is located.

Step 6: and converting the longitude and latitude of the ship into a grid index to obtain the water supply and drainage of the ship.

In step 3, the model for establishing the index for the grid is as follows:

the grid index is (x, y), the lon represents grid center longitude, the lat represents grid center latitude, and the lon represents grid center latitude_minRepresenting the minimum longitude of the calculation range, said lat_minRepresents the minimum latitude and the interval represents the grid spacing.

In step 4, the specific position of the controlled river reach where the grid is located is obtained as follows:

step 4.1: converting left side points and right side points of the channel mileage line into corresponding grid indexes;

step 4.2: calculating the distance from the grid in the rectangular range formed By the adjacent channel mileage lines to the previous channel mileage line, and if the longitude and latitude of the center point of the grid is (lon, lat), and the linear equation of the channel mileage line is Ax + By + C-0, then the distance d is₁The calculation formula of (2) is as follows:

step 4.3: calculating the distance d from the grid in the rectangular range formed by the mileage lines of the adjacent channels to the mileage line of the next channel₂；

Step 4.4: calculating the specific position of the grid in the control river reach in the rectangular range formed by the adjacent channel mileage lines, and if the current grid is in the range of the channel mileage lines nkm and (n-1) km, the specific position of the control river reach in which the grid is located is d ═ n-d₁/(d₁+d₂))；

In step 5, the implementation manner of obtaining the grid reference course is as follows:

step 5.1: let the reference heading at the course mile line nkm be c, given that the current grid is within the range of the course mile lines nkm and (n-1) km_nCourse mileage line (n-1) kmHas a reference course of c_n-1；

Step 5.2: because the reference course has a closed characteristic, the course needs to be preprocessed to a certain extent, when c_nAnd c_n-1When the absolute value of the difference is greater than 9, it is considered that there is a situation of 36 crossing between two data, and the reference data between 0 and 8 needs to be added with 36 before subsequent processing;

step 5.3: using d calculated in step four, the reference heading c of the grid is c_n+(n-d)(c_n-1-c_n) If c is greater than 35, c is c-36, and c is the reference heading of the grid;

in step 6, the ship water supply and discharge determination is realized as follows:

step 6.1: the longitude and latitude are used for solving a grid index, the longitude and latitude are (lon, lat), the grid index is (x, y), and the conversion model is as follows:

step 6.2: and obtaining the reference course of the grid where the ship is located by utilizing the grid index.

Step 6.3: comparing the real course of the ship with the grid reference course, and if the absolute difference between the real course and the water-feeding reference course is less than a threshold value, determining that the ship is a water-feeding ship; if the absolute difference between the reference course and the launching reference course is smaller than a threshold value, the ship is a launching ship; otherwise, the judgment result of the ship is obtained.

The technical scheme of the invention has the following beneficial effects:

the invention provides a method for judging whether a ship at a controlled river reach gets on or off water based on grid reference course, which is characterized in that based on a topographic map of a channel at the controlled river reach, the controlled river reach is gridded and an index is established, coordinates of mileage lines of the channel are read, grids in a rectangular range formed by the mileage lines of adjacent channels are set as navigable areas, and meanwhile, the grid reference course is calculated by utilizing the reference course of the mileage lines of the channel.

Drawings

FIG. 1 is a flow chart of a method for determining whether a ship at a river reach is on or off the water based on a grid reference course according to an embodiment of the present invention

Detailed Description

The following detailed description of preferred embodiments of the invention refers to the accompanying drawings in which:

in the embodiment, the embodiment is explained by taking the Changjiang Luzhou navigation channel segment Shenbeizui control channel segment as an example, the control channel segment is gridded and an index is established by determining the calculation range and the grid interval of the control channel segment, the channel mileage coordinate is recorded through an electronic channel map, the specific position of the grid in the control channel segment is calculated and stored, and then the grid reference course is calculated through the channel mileage line reference course. The system only needs to convert the analyzed ship position data into a grid index, so that the reference course of the grid where the ship is located can be obtained to judge whether the ship goes up and down, and help is provided for ship commanding, as shown in fig. 1, the specific implementation comprises the following steps:

step 1: and reading the calculation range of the control river reach and the grid spacing. The calculation range is a rectangular box, so the actual data of the calculation range comprises four data of minimum longitude, minimum latitude, maximum longitude and maximum latitude; the grid spacing is the longitude and latitude difference of unit grids in the process of controlling the river reach to carry out the grid, if the spacing is too large, the accuracy of determining the position of the ship is not high, and if the spacing is too small, the system calculation amount is large.

Step 2: and reading the data of the channel mileage line. On the electronic channel chart, a channel mileage line appears every kilometer, when the channel mileage line is recorded through the electronic channel chart, a left point and a right point are required to be determined to be on the corresponding channel mileage line, meanwhile, a rectangular frame formed by adjacent channel mileage lines needs to contain the channel, and the data comprises channel mileage kilometers, longitude and latitude (according to the water flow direction) of the left point of the channel mileage line and longitude and latitude (according to the water flow direction) of the right point of the channel mileage line.

And step 3: and controlling the section gridding and establishing an index. Establishing a coordinate system by taking the minimum longitude and latitude coordinate of the calculation range as an origin, taking longitude as an X axis and latitude as a Y axis, establishing a coordinate system index by taking grid intervals as unit variables, and converting the longitude and latitude into a grid index model as follows:

where the grid index is (x, y), lon represents grid center longitude, lat represents grid center latitude, lon_minIndicating the minimum longitude, lat, of the calculation range_minRepresents the minimum latitude and interval represents the grid spacing.

And 4, step 4: calculating the specific position of the control river reach where the grid is located;

step 4.1: converting left side points and right side points of the channel mileage line into corresponding grid indexes;

step 4.2: calculating the distance from the grid in the rectangular range formed By the adjacent channel mileage lines to the previous channel mileage line, and if the longitude and latitude of the center point of the grid is (lon, lat), and the linear equation of the channel mileage line is Ax + By + C-0, then the distance d is₁The calculation formula of (2) is as follows:

step 4.3: calculating the distance d from the grid in the rectangular range formed by the mileage lines of the adjacent channels to the mileage line of the next channel₂；

Step 4.4: calculating the specific position of the grid in the control river reach in the rectangular range formed by the adjacent channel mileage lines, and if the current grid is in the range of the channel mileage lines nkm and (n-1) km, the specific position of the control river reach in which the grid is located is d ═ n-d₁/(d₁+d₂))。

And 5: obtaining a grid reference course;

step 5.1: let the reference heading at the course mile line nkm be c, given that the current grid is within the range of the course mile lines nkm and (n-1) km_nThe reference course at the channel mile line (n-1) km is c_n-1；

Step 5.2: because the reference course has a closed characteristic, the course needs to be preprocessed to a certain extent, when c_nAnd c_n-1When the absolute value of the difference is greater than 9, it is considered that there is a situation of 36 crossing between two data, and the reference data between 0 and 8 needs to be added with 36 before subsequent processing;

step 5.3: using d calculated in step four, the reference heading c of the grid is c_n+(n-d)(c_n-1-c_n) If c is greater than 35, c is c-36, and c is the reference heading of the grid;

step 6: solving the specific position of the control river reach where the ship is located;

step 6.1: the longitude and latitude are used for solving a grid index, the longitude and latitude are (lon, lat), the grid index is (x, y), and the conversion model is as follows:

step 6.2: and obtaining the reference course of the grid where the ship is located by utilizing the grid index.

Step 6.3: comparing the real course of the ship with the grid reference course, and if the absolute difference between the real course and the water-feeding reference course is less than a threshold value, determining that the ship is a water-feeding ship; if the absolute difference between the reference course and the launching reference course is smaller than a threshold value, the ship is a launching ship; otherwise, the judgment result of the ship is obtained.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.