KR100465105B1 - Drift Angle Auto Pilot System - Google Patents

Abstract

The present invention provides an automatic route tracking system in which a vessel can safely and automatically navigate along a route set through another control even in a situation where there is an external force in the vessel's navigation.

In the present invention, the satellite navigation device 10 for receiving a satellite signal, the gyro (20: Gyroscope) for outputting the current direction information of the ship, and the steering angle sensor (30) for outputting information on the Rudder control angle And an electronic chart display and information system (ECDIS) for displaying an electronic chart, and an autopilot system (50: auto pilot system) for performing other control on a new target head angle from the ECDIS 40. , The target athlete in the direction to go from the bow angle (ψ) of the current vessel in operation along the route entered in the ECDIS 40 of the vessel and the current position (X, Y) of the vessel received from the satellite navigation device 10; It is possible to calculate the drift angle due to the difference between the ship's heading direction with respect to the angle (ψd-ψ) and control the other steering (δc, δ) of the autopilot 50 with respect to the new target bow angle (ψd). Even in the presence of tides, wind, waves, etc. Characterized in that the navigation automatically.

Description

Automatic route tracking device considering ship's drifting angle and tracking method {Drift Angle Auto Pilot System}

The present invention relates to an automatic route tracking system of a vessel, and more particularly, to a direction to go from the bow angle of the current vessel in operation along the route entered into the ECDIS and the current position (X, Y) of the vessel received from the GPS. Calculate the Drift Angle due to the difference of the ship's heading angle with respect to the target heading angle and follow the set route even in the presence of environmental external forces (algae, wind, waves, etc.) through other control using the new target heading angle. It is to provide an automatic route tracking device and tracking method in consideration of the drifting angle of the ship that can automatically navigate.

In general, ships use a separate automatic route tracking system that allows them to navigate to the target route previously entered into ECDIS.

However, the ship's automatic route tracking system did not work properly in the presence of the ship's navigational conditions, i.e. environmental forces (air currents, wind, waves, etc.), which often resulted in deviations from the target route previously entered into ECDIS.

This means that even if the ship is operated with the heading angle of the ship fixed at the predetermined target route, the vessel will continue to maintain the target route if external force such as sea current or wind acts on the side of the vessel. Can not be.

Therefore, when the ship's rudder is adjusted to maintain the bow angle at a predetermined target route, the rudder angle is changed to generate a drift angle, which is a difference between the bow angle and the direction in which the ship proceeds. Due to the above-mentioned drifting angle, the operation route is different from the predetermined target route.

This conventional problem is caused by not considering the drift angle of the ship, which occurs when there is an external force at the time of tracking the ship.

In addition, in the case of the existing ship, in order to introduce a new automatic route tracking system in consideration of the above-mentioned problems, a new device capable of implementing the new route has to be installed.

The present invention is to solve the problems of the conventional automatic route tracking system as described above, the object of the present invention is the equipment in the existing vessels without introducing new equipment (ECDIS, Auto-Pilot, GPS, Gyro) It is to provide an automatic route tracking system that considers the angle of drift that the ship can safely and automatically navigate along the route set by other control even in the presence of external force (birds, wind, waves, etc.) using the bay.

Hereinafter, with reference to the accompanying drawings, a specific embodiment of the present invention will be described in more detail the configuration and effect and the like.

1 is a block diagram illustrating an automatic route tracking system considering a drifting angle according to the present invention.

<Explanation of symbols for the main parts of the drawings>

10: satellite navigation system (GPS)

20: Gyroscope

30: steering angle sensor

40: Electronic Charts Display and Information System (ECDIS)

50: Auto Pilot System

ψd: new target bow angle

ψ: existing target bow angle

ψd-ψ: Drift Angle due to the difference between the ship's traveling direction angle

1 is a block diagram illustrating an automatic route tracking system in consideration of the deflection angle according to the present invention.

In accordance with the above object, in the present invention, a satellite navigation device 10 (GPS: Global Positioning System) for receiving satellite signals, a gyro (20: Gyroscope) for outputting current direction information of a ship, and a rudder A steering angle sensor 30 for outputting information on a control angle, an electronic chart display and information system (ECDIS) 40 for displaying an electronic chart, and another control for performing a new target bow angle from the ECDIS 40. It is characterized by consisting of an autopilot system (50: Auto Pilot System).

In addition, the present invention is to go from the bow angle (ψ) of the current vessel in operation along the route entered into the ECDIS (40) of the vessel and the current position (X, Y) of the vessel received from the satellite navigation device 10 Calculate the drift angle by the difference (ψd-ψ) from the ship heading angle with respect to the target heading angle in the direction, and control the other control of the autopilot 50 with the new target heading angle ψd (δc, δ) is enabled to automatically navigate to the set route even in the presence of environmental external forces (algae, wind, waves, etc.).

In order to implement the above-mentioned automatic route tracking system,

Inputting a target route for the ship to go to the ECDIS 40,

Calculating a target bow angle, which is a direction to go from the current position (X, Y) of the ship received from the satellite navigation apparatus 10,

Receiving the current bow angle ψ through the gyro 20,

Calculating a drift angle of the ship by obtaining a difference (ψd-ψ) between the current bow angle ψ received through the gyro 20 and the traveling direction angle of the ship received from GPS;

Calculating a new target bow angle ψd taking into account the drifting angle of the ship,

New target bow angle (ψd) = ψ-(ψd-ψ) (Equation 1)

ψd: new target bow angle

ψ: existing target bow angle

ψd-ψ: Drift Angle due to the difference between the ship's traveling direction angle

Instructing the autopilot 50 to perform the steering control δc, δ for the new target bow angle ψd from the ECDIS 40,

Repeatedly performing the above procedure when the vessel is moved by other control by the automatic steering apparatus 50,

The above steps are automatically performed by the ECDIS 40.

As described above, according to the present invention, the autopilot 50 performs driving of the rudder so that the ship follows the course, and the autopilot 50 to perform the rudder control δc, δ for the new target bow angle ψd. Command is executed by the ECDIS 40.

The ECDIS 40 receives the bow angle of the current ship from the gyro 20 to obtain the target bow angle, and receives the bow angle of the ship from the satellite navigation device 10 to calculate the drifting angle of the ship (Equation 1). Obtain from.

The calculated drifting angle may be provided with a new target heading angle in consideration of the target heading angle calculated by using the route set on the ECDIS 40 and the current position of the ship received from the satellite navigation apparatus 10.

For the new target bow angle ψd from the ECDIS 50, the autopilot 50 repeatedly performs the procedure of performing the other controls δc and δ and automatically navigates along the set route.

As described above, the present invention intends to go from the bow angle (ψ) of the current vessel in operation along the route input to the ECDIS 40 for the automatic route tracking and the current position (X, Y) of the vessel received from the GPS 10. By calculating the drift angle with respect to the target heading angle in the direction, the autopilot 50 performs the rudder control (δc, δ) using the new target heading angle (ψd), which has an environmental external force (algae, wind, waves, etc.). Even in situations, the set route is tracked and navigation can be made automatically.

As described above, according to the present invention, the vessel for the target bow angle in the direction to go from the bow angle ψ and the GPS 10 of the ship in operation along the route input to the ECDIS 40 for automatic route tracking. The autopilot 50 performs other control in consideration of the drift angle due to the difference in the direction of travel (ψd-ψ), so that the vessel can automatically navigate while safely tracking the route even in the presence of an external force. Will be.

In addition, the present invention implements a single tracking system using existing equipment (ECDIS, Auto-Pilot, GPS, Gyro) to reduce the system cost and localization of the automatic route tracking system is very effective. It is a useful invention.

Claims (2)

In the automatic route tracking system to automatically navigate along the target route entered into the ship's ECDIS, A rudder sensor 30 connected to a satellite navigation device 10 for receiving satellite signals, an ECDIS 40 for displaying an electronic chart, which outputs information on other control angles, and a gyro for outputting current direction information of the ship. (20), and the automatic route tracking device in consideration of the drifting angle of the ship, characterized in that the automatic steering device for performing other control for the new target bow angle from the ECDIS (40). The automatic route tracking device taking into account the drifting angle of the ship of claim 1, Inputting a target route for the ship to go to the ECDIS 40 of the ship, Calculating a target bow angle, which is a direction to go from the current position (X, Y) of the ship received from the satellite navigation apparatus 10, Receiving the current bow angle ψ through the gyro 20, Calculating a deflection angle of the ship by obtaining a difference (ψd-ψ) between the current bow angle ψ received through the gyro 20 and the propagation direction angle of the ship received from the satellite navigation apparatus 10; Calculating a new target bow angle ψd taking into account the drifting angle of the ship, New target bow angle (ψd) = ψ-(ψd-ψ) (Equation 1) ψd: new target bow angle ψ: existing target bow angle ψd-ψ: Drift Angle due to the difference between the ship's traveling direction angle Instructing the automatic steering apparatus 50 to perform the steering control δc, δ for the new target bow angle ψd from the ECDIS 40, Repeatedly performing the above procedure when the vessel is moved by other control by the automatic steering apparatus 50, Automatic route tracking method in consideration of the drifting angle of the ship, characterized in that configured to perform the above steps in the ECDIS (40) automatically.