JPS6148478B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic navigation system that automatically controls the navigation of a ship.

Automated navigation devices using electronic computers have been proposed in the past. In conventional automatic navigation systems, electronic computers perform the functions of conventional automatic steering systems, and the electronic computers output control signals that directly open and close the solenoid valves of the pilot aircraft.

In addition, most conventional automatic navigation systems have used radar on the coast to measure the position of ships, but the original purpose of radar is not as a positioning device, and it is not possible to automatically calculate the position. In the past, when the measured position deviated from the planned route, the set course was changed from that position so that the ship would be directed directly to the destination without approaching the planned route. As a result, they were unable to follow the ever-changing routes due to great-area navigation, resulting in loss of route.

The purpose of this invention is to use a conventional automatic steering system to navigate a short distance to a destination in a short time along a pre-planned route without using a computer to directly control the solenoid valve of the steering gear. The goal is to provide an automatic navigation device that can.

According to this invention, the self-direction, that is, the self-course is measured, the self-position is also measured, and the preset course for returning to a preset course is calculated by the first computing unit, and the preset course is calculated by the first computing unit. The deviation between the measured self-direction and the above-mentioned self-direction is calculated. This deviation signal is supplied to a conventional automatic steering system. In other words, the deviation signal is proportional to
Generates a steering signal by performing integral and differential calculations. This steering signal controls the opening and closing of the electromagnetic valve of the steering gear so that the deviation signal becomes zero.

For example, as shown in the figure, a navigation satellite receiving device 11 is provided, and the navigation satellite receiving device 11 is provided with a position measuring device, and the position of the own ship is accurately measured by this position measuring device. The own ship's bearing θ is constantly measured by a self-direction measuring device 12 such as a wheeled guide, and the bearing signal is transmitted to the navigation satellite receiver 1.
1. Also, a speedometer like an electromagnetic log 1
3, the speed of the own ship is measured, and the speed signal is also supplied to the navigation satellite receiver 11.

The navigation satellite receiver 11 constantly calculates and determines its own position from the azimuth signal and speed signal, using the own position measured using the navigation satellite as a reference.
On the other hand, the navigation satellite receiving device 11 stores in advance a set course from one destination to the next destination, and a set course (direction) to return to the pre-planned route at the measured current self-position. θ _s is calculated by the first calculator, and the deviation θ−θ _s =Δθ between this and the current self-direction, that is, the self-course is calculated.

This deviation signal Δθ is supplied to the automatic steering system 14. The automatic steering system 14 has a configuration similar to that of a conventional system that controls a steering gear by giving a deviation between a set course and its own heading. That is, the input deviation signal is subjected to proportional, integral, and differential calculations to generate a control signal, which is supplied to the steering gear 15.
In the steering gear 15, a solenoid valve is controlled to open and close according to the input control signal, and steering is performed such that the deviation signal Δθ becomes zero.

If the measured self-position deviates from the planned route, that is, if the vehicle would otherwise enter another route, it is possible to return to the planned route while changing the set course as follows. That is, if the nth deviation from the course is yn, the nth set course is θn, the ship speed is v, and the rate of return to the course is K, then α _o = sin ^-1 (sin α _o-1 - Kyn - y _o-1 /v) The set course may be reset by the calculation shown in _θo = θo _-1 + ( _αo - _αo-1 ). However, if the measured position obtained by the position measuring device deviates significantly from the planned route, the second calculation unit sets a new route directly to the destination without returning to the planned route. Calculate and determine.

Self-positioning may be performed not only by a navigation satellite receiver but also by Loran C, Omega, etc. In these cases, a navigation satellite receiver may also be used. Therefore, the receiving device 11 calculates and stores a planned route based on a large number of stored destinations in advance, and can calculate a new set course for returning to the route or heading toward the destination using the second computing unit and automatically Any device that has the function of calculating the deviation between the heading and the set course may be used.

As described above, according to the automatic navigation system according to the present invention, the solenoid valve of the steering gear is not directly controlled by a control signal from a computer, but the conventional automatic navigation system is used. It is easy to install the automatic navigation system of the present invention even on ships equipped with the following.

Furthermore, if the vessel deviates from the planned route, it is possible to navigate along the route instead of heading directly to the destination. In other words, it is possible to maintain the course. Furthermore, it becomes possible to route along the great circle route, which eliminates route losses and saves time.

[Brief explanation of the drawing]

The figure is a block diagram showing an example of an automatic navigation system according to the present invention. 11: Navigation satellite receiver having a function of calculating the deviation between self-direction and a set course, 12: Direction measuring device, 13: Ship speed measuring device, 14: Automatic steering device, 15: Steering device.

Claims (1)

[Claims] 1 A direction measuring device that measures one's own direction, a position measuring device that measures one's own position, and position information obtained from the position measuring device, and if the position information deviates from the pre-planned planned route, the above means for calculating a deviation from the position information; a first calculating unit for automatically calculating a set course for returning to a pre-planned route when the calculated deviation is within a predetermined value; When the deviation exceeds a predetermined value, the set course heading toward the destination stored in advance in the memory is automatically recalculated, and the deviation between the recalculated set course and the direction signal from the direction measuring device is calculated. An automatic steering system comprising: a second computing unit; and an automatic steering device that is supplied with a deviation signal from the first or second computing unit and performs proportional, integral, and differential operations on the deviation signal to generate a steering signal. Navigation equipment.