JPH07119618B2 - Navigation equipment - Google Patents
Navigation equipmentInfo
- Publication number
- JPH07119618B2 JPH07119618B2 JP61254496A JP25449686A JPH07119618B2 JP H07119618 B2 JPH07119618 B2 JP H07119618B2 JP 61254496 A JP61254496 A JP 61254496A JP 25449686 A JP25449686 A JP 25449686A JP H07119618 B2 JPH07119618 B2 JP H07119618B2
- Authority
- JP
- Japan
- Prior art keywords
- ship
- point
- calculating
- warning
- remaining time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Navigation (AREA)
- Traffic Control Systems (AREA)
Description
【発明の詳細な説明】 （ａ）産業上の利用分野 この発明は、予定地点を含む予定航路を航行する航法装
置に関する。DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a navigation device for navigating a planned route including a planned point.
（ｂ）発明の概要 この発明に係る航法装置は、例えば大圏航法で航行する
場合等、予め幾つかの変針点を定めておき各変針点間は
一定の方位で航行し、変針点に達したとき針路を変更し
て航行する航行装置や、予め設定した地点まで自動操舵
する航法装置に関し、特にこの発明は変針点等の予定地
点に到達する残り時間が予め定められた特定時間以内と
なったとき警告を出力するようにしたものである。(B) Outline of the Invention The navigation device according to the present invention determines some change points in advance when navigating by great circle navigation, for example, and makes a fixed azimuth between the change points to reach the change point. The present invention relates to a navigation device that changes its course when navigating, and a navigation device that automatically steers to a preset point.In particular, the present invention is such that the remaining time to reach a planned point such as a turning point is within a predetermined specific time. It outputs a warning when it does.
（ｃ）従来の技術 従来、この種の航法装置としては自船位置を測位する手
段を備え、予定地点に対して一定距離接近したときに警
告を出力する装置が用いられている。(C) Conventional Technology Conventionally, as this type of navigation device, a device that has a means for positioning the position of the own ship and outputs a warning when approaching a planned point by a certain distance is used.
（ｄ）発明が解決しようとする問題点 ところが、このような従来の航法装置においては船速に
係わらず予定地点まで一定距離近づいたときに警告が出
力されるため、必ずしも適切な警告にはならない。例え
ば高速で航行している場合、警告が発せられてから予定
地点に到達するまでの時間は短く、操船者はゆとりを持
って変針作業等を行うことができない。また、低速で航
行している場合は変針作業等の準備が必要となる以前に
警告が発せられることになるという不都合があった。(D) Problems to be Solved by the Invention However, in such a conventional navigation device, a warning is output when a predetermined distance is approached to a planned point regardless of the ship speed. . For example, when navigating at high speed, the time from when the warning is issued until reaching the scheduled point is short, and the operator is not able to carry out needle changing work etc. with plenty of time. Further, there is an inconvenience that when a ship is traveling at a low speed, a warning will be issued before preparations such as changing needle work are required.
この発明はこのような従来の問題点を解消して、船速に
関わらず変針作業等の準備に必要な時間前に警告を出力
するようにして、操船者がゆとりをもって変針作業等に
取り掛かれるようにした航法装置を提供することを目的
としている。The present invention solves the above-mentioned conventional problems and outputs a warning before the time necessary for preparation of needle changing work, etc., regardless of the boat speed, so that the operator can start the needle changing work etc. in a relaxed manner. The purpose is to provide a navigation device adapted to be used.
（ｅ）問題点を解決するための手段 この発明の航法装置は、自船位置を測位する測位手段
と、出発点と目的点とを結ぶ予定航路からの自船位置の
ずれを割り出すずれ演算手段と、該ずれを補正すべく船
首方向を制御する操舵手段と、自船の前記予定航路方向
の速度成分を割り出す移動速度算出手段と、自船の目的
点までの距離を割り出す距離演算手段と、前記予定航路
方向の速度成分と目的点までの距離に基づいて残り時間
を算出する残り時間演算手段と、この残り時間が所定時
間以内となったことを検知して警告を出力する警告手段
と、を設けたことを特徴としている。(E) Means for Solving Problems The navigation device according to the present invention comprises a positioning means for positioning the own ship position and a deviation calculation means for calculating the deviation of the own ship position from the planned route connecting the starting point and the destination point. A steering means for controlling the bow direction to correct the deviation, a moving speed calculation means for calculating the speed component of the own ship in the planned route direction, and a distance calculation means for calculating the distance to the target point of the own ship, A remaining time calculation means for calculating the remaining time based on the speed component in the planned route direction and the distance to the destination point, and a warning means for detecting that the remaining time is within a predetermined time and outputting a warning, It is characterized by the provision of.
（ｆ）作用 以上の構成であれば、移動速度算出手段が自船の移動速
度に基づいて予定航路方向への速度成分を抽出する。ま
た距離演算手段は自船の目的点までの距離を割り出す。
さらに残り時間演算手段は予定航路方向の速度成分と目
的点までの距離に基づいて残り時間を算出する。警告手
段は残り時間が特定時間以内となったことを検知して警
告を出力する。従って、船速に関わらず変針点に到達す
るまでの残り時間が特定時間以内となったことを条件と
して警告を出力することになる。(F) Operation With the above configuration, the moving speed calculation means extracts the speed component in the planned route direction based on the moving speed of the ship. Further, the distance calculating means calculates the distance to the destination point of the own ship.
Further, the remaining time calculating means calculates the remaining time based on the velocity component in the planned route direction and the distance to the destination point. The warning means detects that the remaining time is within a specific time and outputs a warning. Therefore, regardless of the boat speed, the warning is output on condition that the remaining time until reaching the change point is within the specific time.
（ｇ）実施例 第３図はこの発明の実施例である航法装置を用いて大圏
航法を行う場合の船法状態を表す図である。図に示すよ
うに予定航路は複数の変針点を含んでいる。今変針点Ｓ
を出発点とし、次の変針点Ｏを目的点とする。現在の自
船位置は緯度，経度がPN,PEとして表わされる位置にあ
り、Ｖで示す方向に移動している。このとき自船位置は
予定航路からL0の距離だけずれている。このずれ量は潮
流等によって偏流することによって生じ、船は角度θだ
け予定航路側に片針するように自動操舵が行われる。(G) Embodiment FIG. 3 is a diagram showing a state of navigation when performing a great circle navigation using a navigation device according to an embodiment of the present invention. As shown in the figure, the planned route includes multiple turning points. Now the change point S
Is the starting point and the next change point O is the target point. The current ship position is at a position where latitude and longitude are represented as P N and P E , and the ship is moving in the direction indicated by V. At this time, the ship's position is displaced from the planned route by a distance of L 0 . This amount of deviation is caused by uneven flow due to tidal current, etc., and the ship is automatically steered so as to make one needle toward the planned route by the angle θ.
このような状態において自船位置から変針点Ｏまでの接
近距離はＬで表され、変針点Ｏまでの接近速度は船の移
動速度Ｖの変針点Ｏ方向の変速度分VCとして抽出され
る。この接近距離Ｌを接近速度VCで除算することによっ
て変針点Ｏまでの残り時間を求めることができる。In such a state, the approach distance from the ship's position to the needle change point O is represented by L, and the approach speed to the needle change point O is extracted as a variable speed component V C of the moving speed V of the ship in the needle change point O direction. . By dividing the approach distance L by the approach speed V C , the remaining time to the change point O can be obtained.
第１図はこの発明の実施例である航法装置のブロック図
である。制御装置１は各種測定装置や設定装置からのデ
ータを処理し、針路制御装置３に対して設定針路を与え
る。GPS受信器２は全世界測位システム（NAVSTAR/GPS）
受信器であり、現在の船の位置（緯度，経度）および船
の二次元方向の移動速度を求め、制御装置１へ出力す
る。船速計６は船の船首方向の速度を測定する装置であ
り、そのデータを制御装置１へ出力する。予定航路設定
装置７は出発点と目的点の位置を緯度，経度データとし
て設定を行う。FIG. 1 is a block diagram of a navigation system according to an embodiment of the present invention. The control device 1 processes data from various measuring devices and setting devices and gives a set course to the course control device 3. GPS receiver 2 is a global positioning system (NAVSTAR / GPS)
It is a receiver, and obtains the current position of the ship (latitude, longitude) and the moving speed of the ship in the two-dimensional direction, and outputs it to the control device 1. The speedometer 6 is a device that measures the speed of the ship in the bow direction, and outputs the data to the control device 1. The planned route setting device 7 sets the positions of the starting point and the destination point as latitude and longitude data.
表示装置８は変針点までの残り時間を含む各種情報を表
示し、また変針点までの残り時間が予め定められた時間
以内となったとき、変針作業の準備を行う旨の表示を行
うことにより警告を行う。The display device 8 displays various information including the remaining time to the needle changing point, and when the remaining time to the needle changing point is within a predetermined time, by displaying that the needle changing work is prepared. Give a warning.
針路制御装置３はコンパスを含み、船が制御装置１から
与えられた設定針路を取るように操舵装置５を駆動して
回頭を行う。また、追従発振器４から出力された舵の方
向を検出して舵角を制御する。The course control device 3 includes a compass, and drives the steering device 5 so that the boat takes a set course given by the control device 1 to perform turning. Also, the rudder angle is controlled by detecting the rudder direction output from the tracking oscillator 4.
第２図は前記制御装置の処理手順を表すフローチャート
である。まずGPS受信器から現在の船の位置を緯度PN,経
度PEとして求め、船の移動速度を緯度方向の速度VNと経
度方向の速度VEとして求める（n1→n2）。次に船の移動
速度（VN,VE）から変針点への接近速度VCを求める（n
3）。この速度は船の移動速度を予定航路の方向と予定
航路に垂直な方向とに成分を分けることによって求める
ことができる（第３図参照）。次に変針点までの距離Ｌ
を求める（n4）。この距離は第３図に示したように自船
位置（PN,PE）と変針点Ｏの緯度，経度情報および変針
点Ｓの緯度，経度情報に基づいて球面三角形の公式に基
づいて求めることができる。次に変針点までの距離Ｌを
変針点に対する接近速度VCで除算することにより、変針
点に到達するまでの残り時間Ｔを求めこれを表示する
（n5→n6）。求めた残り時間Ｔが予め定めた時間Ta以下
となったとき変針作業の準備を行うべき旨の警告を表示
する（n7→n8）。Ｔ＞Taの場合はこの警告は行わず、次
にn1で求めた船の位置から船の予定航路に対するずれ量
L0を算出する（n9）。次に、求めたずれ量に応じて船が
予定航路方向に対する回頭角度θを算出する（n10）。
求めた回頭角度θを針路制御装置３に与えることによっ
て新たな針路を設定する（n11）。FIG. 2 is a flowchart showing a processing procedure of the control device. First, the current position of the ship is obtained from the GPS receiver as latitude P N and longitude P E , and the moving speed of the ship is obtained as latitude V N and longitude V E (n1 → n2). Next, the approach speed V C to the turning point is calculated from the moving speed (V N , V E ) of the ship (n
3). This speed can be obtained by dividing the moving speed of the ship into the component of the planned route and the direction perpendicular to the planned route (see Fig. 3). Next, the distance L to the change point
(N4). This distance is calculated based on the spherical triangle formula based on the ship position (P N , P E ) and the latitude / longitude information of the change point O and the latitude / longitude information of the change point S as shown in FIG. be able to. Next, by dividing the distance L to the needle change point by the approach speed V C to the needle change point, the remaining time T until reaching the needle change point is obtained and displayed (n5 → n6). When the calculated remaining time T becomes less than or equal to a predetermined time Ta, a warning that the preparation for needle changing work should be performed is displayed (n7 → n8). When T> Ta, this warning is not issued, and the amount of deviation from the ship's position determined in n1 to the planned route of the ship
Calculate L 0 (n9). Next, the turning angle θ of the ship with respect to the planned route direction is calculated according to the calculated deviation amount (n10).
A new course is set by giving the obtained turning angle θ to the course control device 3 (n11).
以上の処理は所定時間間隔で行われるため、自動操舵が
行われるとともに変針点に到達するまでの残り時間が特
定時間以内となったとき警告が出力される。Since the above processing is performed at predetermined time intervals, a warning is output when the automatic steering is performed and the remaining time until reaching the needle change point is within the specific time.
なお、実施例は変針点に達することを事前に警告する例
であったが、危険な場所や禁止区域付近を航行する際、
そのような地点を予定地点として予め設定しておくこと
によって、危険な場所や禁止区域の存在を事前に知るこ
とができる。Although the example was an example of warning in advance that reaching the turning point, when navigating near dangerous places or prohibited areas,
By setting such a point as a planned point in advance, it is possible to know in advance the existence of a dangerous place or a prohibited area.
（ｈ）発明の効果 以上のようにこの発明によれば、自船位置から目的点ま
での距離と予定航路方向の速度成分に基づいて目的点に
達するまでの残り時間を求め、残り時間が特定時間以内
となったときに警告を出力するようにしたため、船速や
潮流の影響に関わらず、適切なタイミングで予定地点に
到達することを知らせることができ、操船者が余裕をも
って変針作業等を行うことができる。(H) Effect of the Invention As described above, according to the present invention, the remaining time to reach the target point is calculated based on the distance from the own ship position to the target point and the velocity component in the planned route direction, and the remaining time is specified. Since the warning is output when it is within the time, it is possible to notify that the scheduled point will be reached at an appropriate timing regardless of the influence of the ship speed and tidal current, and the operator can give a margin to change the needle work etc. It can be carried out.
【図面の簡単な説明】 第１図はこの発明の実施例である航法装置の制御部のブ
ロック図、第２図はその処理手順を表すフローチャー
ト、第３図は実施例に係る航法状態を説明するための図
である。BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a control unit of a navigation device according to an embodiment of the present invention, FIG. 2 is a flowchart showing the processing procedure thereof, and FIG. 3 is a navigation state according to the embodiment. FIG.
Claims (1)
目的点とを結ぶ予定航路からの自船位置のずれを割り出
すずれを演算手段と、該ずれを補正すべく船首方向を制
御する操舵手段と、自船の前記予定航路方向の速度成分
を割り出す移動速度算出手段と、自船の目的点までの距
離を割り出す距離演算手段と、前記予定航路方向の速度
成分と目的点までの距離に基づいて残り時間を算出する
残り時間演算手段と、この残り時間が所定時間以内とな
ったことを検知して警告を出力する警告手段と、を設け
たことを特徴とする航法装置。1. A positioning means for positioning the own ship position, a deviation calculating means for calculating a deviation of the own ship position from a planned route connecting a starting point and a destination point, and a bow direction for correcting the deviation. Steering means, a moving speed calculation means for calculating the speed component of the ship in the planned route direction, a distance calculation means for calculating the distance to the target point of the ship, and a speed component in the planned route direction and the destination point A navigation device comprising: a remaining time calculating means for calculating a remaining time based on a distance; and a warning means for detecting that the remaining time is within a predetermined time and outputting a warning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61254496A JPH07119618B2 (en) | 1986-10-24 | 1986-10-24 | Navigation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61254496A JPH07119618B2 (en) | 1986-10-24 | 1986-10-24 | Navigation equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63108222A JPS63108222A (en) | 1988-05-13 |
| JPH07119618B2 true JPH07119618B2 (en) | 1995-12-20 |
Family
ID=17265859
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61254496A Expired - Fee Related JPH07119618B2 (en) | 1986-10-24 | 1986-10-24 | Navigation equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07119618B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012022446A (en) * | 2010-07-13 | 2012-02-02 | Ship Security Service Co Ltd | Running-aground prevention support device, running-aground prevention support system, and running-aground prevention support program |
| CN106384541B (en) * | 2016-10-12 | 2019-02-22 | 思创数码科技股份有限公司 | A method for waterway traffic monitoring based on point cloud data of laser source |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS611365Y2 (en) * | 1979-12-20 | 1986-01-17 | ||
| JPH067297B2 (en) * | 1985-03-11 | 1994-01-26 | 日産自動車株式会社 | Vehicle route guidance device |
-
1986
- 1986-10-24 JP JP61254496A patent/JPH07119618B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPS63108222A (en) | 1988-05-13 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |