RU-2861461-C1 - METHOD FOR MARKING HAZARDS IN VESSEL MOTION CONTROL SYSTEMS

Abstract

FIELD: navigation. SUBSTANCE: invention relates to a method for marking hazards in vessel motion control systems. The method consists in continuously measuring navigation parameters of landmarks, using software applications of onboard navigation systems to display a map of a confined water area, forming a contour of the navigation hazard area, taking into account the vessel's movement along a planned program trajectory, with barrier lines of variable curvature of a multi-focus ellipse depending on the configuration of the hazards, and performing operational monitoring of the conditions of navigation safety of the vessel within the boundaries of the planned navigation safety lane. EFFECT: increasing the safety of navigation in confined, port waters. 1 cl, 3 dwg

Inventors

• Vaskov Anatolii Semenovich
• Mironenko Aleksandr Anatolevich

Dates

Publication Date

20260505

Application Date

20251105

Claims (8)

1. A method of fencing off hazards in vessel motion control systems, which consists in the following:
2. form the contour of the area of navigational hazards taking into account the movement of the vessel along the planned program trajectory (PT) using variable curvature boundary lines created using software applications of onboard navigation systems by displaying the constricted water area on an electronic map;
3. boundary lines of variable curvature are created in the form of a contour line of variable curvature of a multifocal ellipse (N-ellipse) by appropriately selecting landmarks located at its foci in a rectangular coordinate system;
4. hazard configurations take the form of a multifocal ellipse (N-ellipse),
5. In this case, the contour of the area of navigational hazards is constructed taking into account the movement of the vessel along the planned PT and is formed by a line of variable curvature of a multifocal ellipse (N-ellipse), the type of which is determined by the number and location of foci - landmarks, as well as the parameters of the distances to the foci, the coordinates of the points for constructing the boundary line of the N-ellipse, the permissible displacement of the vessel from the PT to the boundary contour, controlled by the control system or the navigator, while the sum of the distances to the foci must be constant:
6. where N is the number of foci - landmarks of the ellipse; D i are the distances from an arbitrary point of the N-ellipse to the i-th foci (landmarks); x, y are the rectangular coordinates of the points of the N-ellipse line; d i are the basic distances between the foci (landmarks); D Oi are the control protective distances from the possible safe positions of the vessel to the foci (landmarks), D Ti are the measured current distances from the vessel's position to the foci (landmarks); g Σ3D is the modulus of the gradient of the multifocal ellipse; τ i are the directions of the gradients of the i-th distances to the foci (landmarks); DTE is the permissible displacement of the vessel from the PT,
7. perform continuous measurements of navigational parameters of landmarks - distances to foci,
8. carry out operational control of the vessel's navigation safety conditions within the boundaries of the planned navigation safety zone.

Description

AREA OF TECHNOLOGY The invention relates to the field of ship navigation, in particular to planning a safe route in ship movement control systems when sailing in confined spaces and tracking the trajectory of onboard navigation systems independent of satellite systems. The method can be integrated into modern navigation systems, in particular into electronic chart display and information systems (ECDIS) and automatic radar plotting systems (ARPA) for the formation of program trajectory (PT) elements with a guaranteed navigation strip (GPS), set automatically based on the principles of artificial intelligence for autonomous marine surface vessels or manually by a person for marine vessels with a low level of automation of control processes, and subsequent control of the movement process. LEVEL OF TECHNOLOGY Patented methods for planning and controlling a vessel along a given programmed trajectory are known [1-4], in which a signal to the steering drive is generated based on data from rudder sensors, angular velocity, course and course angle generated by the route block based on the geographic coordinates of points (latitudes and longitudes). Among the known analogs of generating a preliminary route for a vessel, similar in purpose to the claimed invention, are the methods described in patents [5, 6], in which the X and Y coordinates of danger areas are identified and determined on a navigation map by fuzzy clustering, which are excluded when selecting a safe route from the cells. A known method [7] is to delineate the boundaries of dangerous areas of the seabed based on the results of isobath map measurements by segmenting the bottom relief display by the greatest and least depths of monotonous areas. Safety assessment during vessel passage is performed based on the shortest distances to dangerous isobaths on both sides by constructing regression models. According to numerous studies presented in works [8-10], the most common, simple and convenient methods of fencing off navigational hazards are fencing with isolines or lines of position (OLP), which are widely used as: arcs of circles (isolines of distances, horizontal angle), isolines of bearing (isobearing, isoazimuth), and combinations of these parameters - a parallel index. The disadvantages of these methods are: 1. Use of non-uniform approaches and expressions for planning PT, fencing and operational control of navigational hazards: 2. Unnecessary limitation of the area of possible maneuvering of a vessel relative to the PT in order to avoid unaccounted for dangers (vessels, areas temporarily closed/restricted for navigation, etc.) in accordance with the International Requirements for Planning and Current Control of Vessel Movement along the PT (SOLAS-74, STSW-78, A.893(21)). 3. Defining elements of approximating curves with constant radii of curvature for a nonlinear geometric configuration of the narrowness and navigational hazards. This overlaps the hazard area with areas of the water that pose no risk to the safe navigation of the vessel; 4. Excessive information content when representing navigational hazards in matrix form. When implemented technically in navigation equipment, this will lead to excessive memory requirements and a decrease in the speed of computations when searching for the best solution, especially when there are multiple hazards with complex geometric shapes in the vessel's navigation area; 5. Defining the boundaries of hazardous areas relative to the fairway axis and monitoring traffic positions along the PT in geographic coordinates without a geometric relationship with the navigation area and the location of coastal landmarks. Consequently, there is a lack of functional connections with measured navigation parameters defining isolines or OLPs with a curvature close to the configuration of the navigation area and hazards; Solutions close to the proposed fencing of navigational hazards for the vessel's route are proposed in works [5-7], with improvements based on the principle of works [8-10], based on the functional connections of the PT and the configuration of hazards by isolines of navigational parameters of coastal landmarks on an electronic map, having variable curvature, allowing the vessel's movement in the GPP to be quickly monitored without additional calculations and searches. TECHNICAL TASK The technical objective of the proposed invention is to improve the safety of navigation in confined port waters by simplifying the process of approximating and constructing a hazard area contour on a map and better matching the lines of variable curvature of a multipolar ellipse with real physical hazards. The technical task is achieved by proposing a method for fencing off hazards in vessel control systems, which consists in the fact that continuous measurements of navigation parameters of landmarks (distances) are performed, fencing lines of variable curvature are created using software applications of onboard navigation system