CN105539797A - A navigation method and system for a wind-assisted navigation ship based on ECDIS - Google Patents

Abstract

The invention discloses a sailing method and a sailing system of a wind power navigation-assisted ship based on ECDIS, wherein the method comprises the following steps: 1. collecting environmental data and data of a ship engine room and a driving platform; 2. comparing and analyzing the real-time environment data and the forecast data, and correcting the forecast data by using the real-time observation data; 3. determining weather and oceanographic environment information data such as wind, wave, current and the like in a navigation area according to the course and the navigational speed of the ship; 4. according to the characteristic data of the ship and the environmental data of the navigation sea area, making a wind power navigation ship route and superposing and displaying route information on the ECDIS; 5. and when the meteorological sea condition of the navigation sea area is greatly changed, providing an updated optimized air route for the driver, and reminding the driver to update. According to the invention, real-time environmental factors such as marine hydrological meteorological data and characteristic data of the ship are comprehensively evaluated and analyzed, and an optimal course can be provided for the wind-powered navigation-aided ship according to actual requirements, so that the safety and economy of ship navigation are effectively improved.

Description

A navigation method and system for a wind-assisted navigation ship based on ECDIS

technical field

The invention relates to multiple fields such as ship navigation, wind power navigation and navigation instrument integration, and in particular to a navigation method and system for a wind power navigation ship based on ECDIS.

Background technique

The energy consumption of the entire transportation industry accounts for about 20% of the world's energy consumption. As one of the high energy consumption industries, the shipping industry consumes about 2.5% of the world's total energy consumption. With the continuous rise of fuel prices, the proportion of fuel costs in ocean transportation of large ships has risen from the previous 7% to more than 50% currently, and the exhaust gases emitted by them, such as SO _x , NO _x and CO ₂ , respectively account for the total global emissions. 10%, 25% and 2.7% of the shipping industry's environmental impact cannot be ignored. At the same time, the rise in oil prices in recent years has once again increased the burden on the economy caused by oil. The relatively high oil price has made other industries except the transportation industry start to use alternative fuels if there are cheaper alternative fuels. As far as the transportation industry is concerned, the proportion of petroleum will still be the dominant fuel in the transportation industry. In addition to improving energy efficiency in response to high oil prices, it is imperative to find new cheap energy as its auxiliary energy.

It is against this background that, as an effective means to solve the energy crisis and air pollution, wind-assisted navigation ships emerged as the times require. Compared with traditional ships, after the ship is equipped with wind-powered navigation aids, the ocean wind field is no longer (or not completely) a factor unfavorable to the ship's navigation, and the "available wind" with a wind level within the range that the ship can withstand will become important propulsion of the ship. Utilizing the navigation method and system designed by the invention, the driving force of the wind can be superimposed on the direction of the route, thereby increasing the speed of the ship, shortening the time for the ship to reach the destination, or reducing fuel consumption.

Contents of the invention

The present invention is aimed at the proposal of above problem, and a kind of sailing method based on ECDIS wind-assisted navigation ship of development has the following steps:

-Generate environmental data based on received forecast environmental data and collected actual environmental data; collect current ship power parameters and navigation parameters;

-Divide the sea area into geographic grids, determine the initial route according to the origin and destination of the ship, and extract the geographic grid through which the initial route x ₀ passes; determine the environmental data of each geographic grid;

-Set the disturbance vector, perform disturbance in the set of waypoints in the initial route x ₀ , change the latitude and longitude coordinates of some waypoints in the initial route x ₀ , and generate a new route x _new ;

- extract the geographic grid that the new route x _new passes through, and calculate the difference Δf between the initial route x ₀ and the objective function value of the new route x _new , if Δf<0, select the new route x _new as the current route x _current ;

- Set the disturbance vector again for the replaced current route x _current , continuously form a new route x _new , compare the difference with the objective function of the current route x _current , replace it with the current route, and gradually complete route optimization.

As a preferred embodiment, the step "setting the disturbance vector, disturbing the set of waypoints in the initial route _x0 , changing the latitude and longitude coordinates of some waypoints in the initial route _x0 , and generating a new route _xnew " is specifically:

-Set the current route as x ₀ : {P ₀ , P ₁ , P ₂ ,...P _N+1 }, the objective function value is f(x ₀ );

- The current route is x _current , the optimal route is x _best , and x _best = x _current = x ₀ ; the objective function values corresponding to the current route and the optimal route are set as: f(x _current ) and f(x _best ), and f(x _current )=f(x _best )=f(x ₀ );

-Choose a random number n, 0<n<N, randomly generate two n-dimensional disturbance vectors ΔLat and ΔLon with a range of [-1, 1] according to the random number n, and divide the starting point and arrival point on the current route x _current Randomly select n waypoints from the set of waypoints {P ₁ , P ₂ ,...P _N }.

Furthermore, the reservation method of the new route is as follows:

-Assuming that the objective function value of the current route x _current is f(x _current ), the objective function value of the new route x _new is f(x _new ), and the probability P _t of the new route replacing the current route satisfies the following equation:

${\mathrm{<span\; class="notranslate">\; P</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{cc}\mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; exp</span>}<span\; class="notranslate">\; (</span><span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&le;</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; )</span>\end{array}\right.$

In the formula, t is a control parameter in the algorithm, t _z+1 = a*t _z , a is a number between 0-1, and is the attenuation coefficient; is the acceptance probability of t;

- According to the above formula:

When f(x _current )＞f(x _new ), replace the current route with the new route;

When f(x _current )≤f(x _new ), the probability that the new route replaces the current route is:

$\mathrm{<span\; class="notranslate">\; exp</span>}<span\; class="notranslate">\; (</span><span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>$

Generate a random number ε∈(0, 1) and compare it with P _t . If P _t ≥ ε, replace the current route with the new route;

If P _t <ε, discard the new route and continue to use the current route to generate a new route.

As a preferred embodiment, compare and analyze the actual environmental data and forecast environmental data, and use the actual environmental data to correct the forecast data;

Actual environmental data include at least: wind speed and direction instrument data on board, visibility, ocean current velocity and direction;

The ship power parameters at least include: propeller pitch, main engine speed and continuous sailing time.

As a preferred implementation, the initial route _x0 is a great circle route.

A navigation system for wind-assisted navigation ships based on ECDIS, comprising:

The environmental data acquisition unit receives the predicted environmental data and the collected actual environmental data;

The ship power parameter acquisition unit collects the current ship power parameters;

The navigation parameter acquisition unit collects the navigation parameters of the current ship;

The grid environment data calculation unit divides the sea area into geographic grids, extracts the geographic grids passed by the route, and determines the environmental data of each geographic grid;

The processing unit determines the initial route according to the origin and destination, sets the disturbance vector, performs disturbance in the set of waypoints in the initial route _x0 , changes the latitude and longitude coordinates of some waypoints in the initial route _x0 , and generates a new route _xnew ;

Extract the geographic grids of the initial route x ₀ and the new route x _new respectively, and calculate the difference Δf between the objective function values of the initial route x ₀ and the new route x _new , if Δf<0, select the new route x _new as the current route x _current ;

- Set the disturbance vector again for the replaced current route x _current , continuously form a new route x _new , compare the difference with the objective function of the current route x _current , replace it with the current route, and gradually complete route optimization.

and a display unit for displaying route information.

As a preferred embodiment, the processing unit calculates the process of setting the disturbance vector, perturbing the set of waypoints in the initial route _x0 , changing the latitude and longitude coordinates of some waypoints in the initial route _x0 , and generating a _new route xnew Specifically: set the current route as x ₀ : {P ₀ , P ₁ , P ₂ ,...P _N+1 }, and the objective function value is f(x ₀ );

The current route is x _current , the optimal route is x _best , and x _best = x _current = x ₀ ; the objective function values corresponding to the current route and the optimal route are set as: f(x _current ) and f(x _best ), and f(x _current )=f(x _best )=f(x ₀ );

Select a random number n, 0<n<N, randomly generate two n-dimensional disturbance vectors ΔLat and ΔLon with a range of [-1, 1] according to the random number n, and divide the starting point and arrival point in the current route x _current Randomly select n waypoints from the set of waypoints {P ₁ , P ₂ ,...P _N }.

As a preferred implementation, the reservation method of the new route in the processing unit is as follows:

Assuming that the objective function value of the current route x _current is f(x _current ), the objective function value of the new route x _new is f(x _new ), and the probability P _t of the new route replacing the current route satisfies the following equation:

${\mathrm{<span\; class="notranslate">\; P</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{cc}\mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; exp</span>}<span\; class="notranslate">\; (</span><span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&le;</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; )</span>\end{array}\right.$

In the formula, t is a control parameter in the algorithm, t _z+1 = a*t _z , a is a number between 0-1, and is the attenuation coefficient; is the acceptance probability of t;

According to the above formula:

When f(x _current )＞f(x _new ), replace the current route with the new route;

When f(x _current )≤f(x _new ), the probability that the new route replaces the current route is:

$\mathrm{<span\; class="notranslate">\; exp</span>}<span\; class="notranslate">\; (</span><span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span>$

Generate a random number ε∈(0, 1) and compare it with P _t . If P _t ≥ ε, replace the current route with the new route;

If P _t <ε, discard the new route and continue to use the current route to generate a new route.

By adopting the above-mentioned technical scheme, a sailing method and system of an ECDIS-based wind-assisted navigation ship disclosed in the present invention, compared with the prior art, has the following effects:

(1) Able to provide navigation guidance for wind-assisted navigation ships, a new type of ship;

(2) It can overcome the disadvantages of traditional methods for solving large-scale problems, and can find satisfactory solutions to such large-scale and complex problems within a limited time, and avoid falling into local optimum;

(3) Simultaneously superimpose and display the original route and the optimized route in the on-board ECDIS, and analyze the navigation situation in combination with the elemental information of the nautical chart, and assist the navigator in making navigation decisions, which greatly improves the safety and efficiency of ship navigation.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

Fig. 1 is the block diagram of system of the present invention;

Fig. 2 is the flow chart of route adjustment module of the present invention;

Fig. 3 is a flow chart of the navigation method module of the wind-assisted navigation ship according to the present invention;

Fig. 4 is a schematic diagram of the retention or abandonment principle of the new route according to the present invention.

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the drawings in the embodiments of the present invention:

As shown in Figure 1-4: an ECDIS-based navigation method for wind-assisted navigation ships, mainly including the following steps:

First, generate environmental data according to the received forecast environmental data and collected actual environmental data; collect current ship power parameters and navigation parameters.

The forecast environmental data in the environmental data is pushed by the shore base, and the data pushed by the shore base, such as wind speed and direction, flow speed and flow direction, etc., are all in the form of regular data based on grids, and the corresponding horizontal and vertical coordinate positions can be calculated. geographic coordinates.

At the same time, the shore base sends typhoon information to the ship, including typhoon name, typhoon number, center longitude, center latitude, center minimum air pressure, maximum wind speed, seven-level wind circle radius, ten-level wind circle radius, direction and speed, etc. information and superimposed in ECDIS.

Considering that there may be errors and errors in the forecast information, the real-time meteorological data is also obtained through the on-board sensors, and the data in the forecast data can be corrected according to the measured data.

Ship power parameters mainly include: propeller pitch, main engine speed, throttle rack scale, main engine speed and continuous sailing time and other data. The navigation parameters mainly include: the real-time position of the ship obtained by GPS and other equipment, the ship's speed and voyage obtained by the log, and the real-time course of the ship obtained by the compass or similar equipment.

Then, divide the sea area into a series of geographic grids based on grid rules, extract the geographic grids that the route passes through, and determine the latitude and longitude of the grid center.

The horizontal and vertical coordinates of each grid can be calculated according to formulas (1) and (2).

X＝λ _i -λ ₀ /Δλ+1(2)

in, is the first grid, that is, the longitude and latitude coordinates of the center point of the grid whose vertical and horizontal coordinates are (1, 1), is the resolution of the data, that is, the step size of the grid.

In this way, the wind, wave, current and other conditions in the navigation sea area can be determined from the vertical and horizontal coordinates of the grid, that is, the environmental data of each grid can be obtained.

Then, start the route optimization calculation, set the current route as x ₀ : {P ₀ , P ₁ , P ₂ ,...P _N+1 }, and the objective function value is f(x ₀ ).

The current route is x _current , the optimal route is x _best , and x _best = x _current = x ₀ ; the objective function values corresponding to the current route and the optimal route are set as: f(x _current ) and f(x _best ), and f(x _current )=f(x _best )=f(x ₀ ); in this embodiment, the objective function is selected as:

f(x)=αf ₁ (x)+(1-α)f ₂ (x)

f ₁ (x) represents the fuel consumption on the route, f ₂ (x) represents the sailing time, α∈[0,1].

Choose a random number n, n determines the dimension of the random vector. n is the number of waypoints to be changed this time, 0<n<N, and randomly generate two n-dimensional disturbance vectors ΔLat and ΔLon with a value range of [-1, 1], and set them on the current route x _current route Randomly select n waypoints from the point set {P ₁ , P ₂ ,...P _N } (the starting point and arrival point of the route cannot be selected).

Use the disturbance vector to disturb, so that P′ _i (Lat′, Lon′)=(Lat+ΔLat, Lon+ΔLon), thereby changing the latitude and longitude coordinates of a certain n waypoints, generating a new route x _new , the target of the new route The function value is f(x _new );

Calculate the objective function difference Δf between the new route x _new and the optimal route x _best , Δf=f(x _new )-f(x _best ), if Δf<0, then the new route x _new is better than the current optimal route x _best , then order: x _best = x _current = x _new , f _best = f _current = f _new , the new route x _new will be regarded as the current route and the optimal route;

In order to make the algorithm jump out of the local optimum, so as to obtain the best sailing method of the wind-assisted navigation ship, the following method is adopted: the objective function value of the current route x _current is f(x _current ), and the objective function value of the new route x _new is f(x _new ), the probability P _t that the new route replaces the current route satisfies the following equation:

${\mathrm{<span\; class="notranslate">\; P</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{cc}\mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; exp</span>}<span\; class="notranslate">\; (</span><span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&le;</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; )</span>\end{array}\right.$

In the formula, t is a control parameter in the algorithm, t _z+1 = a*t _z , a is a number between 0-1, and is the attenuation coefficient; is the acceptance probability of t;

Generate a random number ε∈(0, 1) and compare it with P _t . If P _t ≥ ε, replace the current route with the new route;

If P _t <ε, discard the new route and continue to use the current route to generate a new route. According to the above calculation formula of P _t : when f(x _i )>f(x _j ), the new route is unconditionally used to replace the current route; when f(x _i )≤f(x _j ), the new route is used to replace the current route The probability of the route is

$\mathrm{<span\; class="notranslate">\; exp</span>}<span\; class="notranslate">\; (</span><span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; j</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>$

As the parameter t decreases, the acceptance probability becomes smaller and smaller, that is, the algorithm is less and less likely to accept "bad" new routes. When t tends to zero, any "bad" new routes cannot be accepted.

When t is relatively large, the acceptance function may tend to 1, that is, the new route x _j that is worse than the current route x _i is more likely to be accepted, so it is possible to jump out of the local minimum and perform a wide-area search. As t gradually decreases to a certain extent, it is difficult to accept a new route that is worse than the current route, and it is not easy to jump out of the current area.

In this way, a sufficient wide-area search is carried out at the beginning of the algorithm to find the area where there may be a solution, and sufficient local search is carried out at the end of the algorithm to find the global optimal solution.

Finally, the initial route and the calculated optimal route are displayed in different colors in the onboard ECDIS, and the estimated fuel consumption and flight time on the two routes are displayed. The driver can also set the objective function according to his own needs:

f(x)=αf ₁ (x)+(1-α)f ₂ (x)

The value of parameter α in the middle, utilize the system of the present invention to calculate the optimal navigation method of the wind-assisted navigation ship; When the driver is not actively running the system of the present invention, when the environmental conditions are compared with expectations, there is a large change , the system automatically solves the optimal navigation method according to the value of the parameter α set by the driver before, and reminds the driver to pay attention in the form of sound and light, and the driver finally decides whether to adopt it.

Embodiment 1. The present embodiment selects a 76,000-ton Panamax bulk carrier, and after adding wind wings, it becomes a wind-assisted navigation ship.

Set the starting point (39°S, 48°E) and arrival point (4°N, 86°E) of the ship respectively.

Establish the overall objective function of ship navigation: f(x)=αf ₁ (x)+(1-α)f ₂ (x),

Where f ₁ (x) is a function of the fuel economy of the ship, and f ₂ (x) is a function of the ship's voyage time. For the convenience of calculation, and emphatically embody the effect of the present invention on shortening the voyage time, in the present embodiment, make α=0, namely obtain the shortest voyage route between two points, the objective function value is: f(x)= f ₂ (x).

${\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; min</span>}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; min</span>}\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}\frac{{\mathrm{<span\; class="notranslate">\; S</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}\\ {\mathrm{<span\; class="notranslate">\; v</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; max</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; t</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; h</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>\end{array}\right.$

N is the number of waypoints on the route, i represents the i-th flight segment, S _i is the voyage of the i-th flight segment, and the total voyage is:

$\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{<span\; class="notranslate">\; \&Sigma;</span>}}{\mathrm{<span\; class="notranslate">\; S</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; ,</span>$

v _ship is the actual speed of the ship when wind aids to navigation are not used; v _assisted is the actual speed of the ship when wind aids to navigation are used.

v′=max(v _assisted , v _ship ) is because there is such a situation: when the meteorological conditions are unfavorable, the speed of the wind-assisted navigation is actually lower than the actual speed of the ordinary ship. When designing the route of the wind-assisted navigation ship, try to avoid When such a route occurs, if it is really unavoidable, it is recommended not to use wind aids on this route.

Calculation results comparison:

The simulation results show that after the installation of wind power navigation aids, the sailing time of the ship on the great circle route can be reduced by 11 hours; after using the shortest sailing time navigation method "proper detour" designed by the present invention, the voyage is only increased by 74 nautical miles Under the circumstances, the voyage time can be further reduced by 18.7 hours. Compared with the voyage time of ordinary ships on the great circle route, when the wind-assisted navigation ship sails along the route calculated by the present invention, the voyage time can be shortened by nearly 30 hours.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

Claims (8)

1. A sailing method of a wind power navigation aid ship based on ECDIS is characterized by comprising the following steps:

-generating environmental data from the received forecast environmental data and the collected actual environmental data; acquiring current ship power parameters and navigation parameters;

-dividing the sea area into a geographical grid, determining an initial route from origin and destination, extracting the initial route x₀A passing geographic grid; determining environmental data for each geographic grid;

-setting a perturbation vector atInitial route x₀Disturbing in the waypoint set to change the initial route x₀Generating new route x by longitude and latitude coordinates of some route points_new；

-extracting new flight line x_newPassing through a geographic grid and calculating the initial route x₀And new route x_newIf the difference value delta f is less than 0, then the new route x is selected_newAs the current course x_current；

For the current route x after replacement_currentSetting disturbance vector again to continuously form new flight path x_newAnd current course x_currentThe difference value of the objective function is compared and replaced into the current route, and route optimization is gradually completed.

2. The ECDIS-based wind navigation method of a ship according to claim 1, wherein said step of "setting a disturbance vector at an initial route x₀Disturbing in the waypoint set to change the initial route x₀Generating new route x by longitude and latitude coordinates of some route points_newThe method specifically comprises the following steps:

-setting the current course to x₀:{P₀,P₁,P₂,…P_N+1F (x) as the value of the objective function₀)；

The current course is x_currentThe optimal route is x_bestAnd x is_best＝x_current＝x₀(ii) a Setting the objective function values corresponding to the current route and the optimal route as follows: f (x)_current) And f (x)_best) And f (x)_current)＝f(x_best)＝f(x₀)；

Selecting a random number N, wherein N is more than 0 and less than N, and randomly generating 2 value intervals of [ -1,1 ] according to the random number N]And the n-dimensional disturbance vectors delta Lat and delta Lon are calculated and are positioned on the current route x_currentSet of waypoints other than origin and arrival point { P }₁,P₂,…P_NAnd randomly selecting n route points.

3. The method for sailing an ECDIS-based wind-powered navigational vessel according to claim 1 or 2, further comprising: the reservation method of the new airline comprises the following steps:

setting the current route x_currentHas an objective function value of f (x)_current) New route x_newHas an objective function value of f (x)_new) Probability P of new lane replacing current lane_tThe following equation is satisfied:

$P_t=\left\{\begin{array}{cc}1& f\left(x_{current}\right)>f\left(x_{new}\right)\\ \exp (-\frac{f\left(x_{new}\right)-f\left(x_{current}\right)}{t})& f\left(x_{current}\right)\&le;f\left(x_{new}\right)\end{array}\right.$

where t is a control parameter in the algorithm, t_z+1＝a*t_zA is a number between 0 and 1, being the attenuation coefficient;is the acceptance probability of t, and z is the outer loop variable of the algorithm;

according to the above formula:

when f (x)_current)＞f(x_new) When the current air route is replaced by the new air route;

when f (x)_current)≤f(x_new) And then, the probability of replacing the current airline by the new airline is as follows:

$\exp (-\frac{f\left(x_{new}\right)-f\left(x_{current}\right)}{t});$

generate a random number ∈ (0,1) and compare it with P_tBy comparison, if P_tIf yes, replacing the current route with the new route;

if P_tIf yes, the new route is abandoned, and the current route is continuously used to generate a new route.

4. The ECDIS-based sailing method for a wind-powered navigational vessel according to claim 1, further comprising: comparing and analyzing the actual environment data and the forecast environment data, and correcting the forecast data by using the actual environment data;

the actual environment data includes at least: on-board anemometry data, visibility, ocean current flow velocity and direction;

the ship dynamic parameters at least comprise: propeller pitch, host speed and continuous voyage time.

5. The ECDIS-based sailing method for a wind-powered navigational vessel according to claim 1, further comprising: the initial route x₀Is a great circle route.

6. An ECDIS-based sailing system for a wind-powered sailing vessel, comprising:

the environment data acquisition unit is used for receiving the forecast environment data and the acquired actual environment data;

the ship power parameter acquisition unit is used for acquiring current ship power parameters;

the navigation parameter acquisition unit acquires navigation parameters of the current ship;

the grid environment data computing unit is used for dividing the sea area into geographical grids and extracting the geographical grids passed by the airline; determining environmental data for each geographic grid;

a processing unit for determining an initial route according to the origin and the destination, setting a disturbance vector, and setting a disturbance vector on the initial route x₀Disturbing in the waypoint set to change the initial route x₀Generating new route x by longitude and latitude coordinates of some route points_new；

Respectively extracting initial route x₀And new route x_newPassing through a geographic grid and calculating the initial route x₀And new route x_newIf the difference value delta f is less than 0, then the new route x is selected_newAs the current course x_current；

For the current route x after replacement_currentSetting disturbance vector again to continuously form new flight path x_newAnd current course x_currentTo do (1)Comparing the difference values of the standard functions, replacing the standard functions into the current route, and gradually finishing route optimization;

and a display unit displaying the course information.

7. The ECDIS-based sailing system for a wind-powered sailing vessel according to claim 6, further characterized in that the processing unit calculates the disturbance vector at the initial route x₀Disturbing in the waypoint set to change the initial route x₀Generating new route x by longitude and latitude coordinates of some route points_newThe process specifically comprises the following steps: setting the current route as x₀:{P₀,P₁,P₂,…P_N+1F (x) as the value of the objective function₀)；

The current course is x_currentThe optimal route is x_bestAnd x is_best＝x_current＝x₀(ii) a Setting the objective function values corresponding to the current route and the optimal route as follows: f (x)_current) And f (x)_best) And f (x)_current)＝f(x_best)＝f(x₀)；

Selecting a random number N, wherein N is more than 0 and less than N, and randomly generating 2 value intervals of [ -1,1 ] according to the random number N]And the n-dimensional disturbance vectors delta Lat and delta Lon are calculated and are positioned on the current route x_currentSet of waypoints other than origin and arrival points { P }₁,P₂,…P_NAnd randomly selecting n route points.

8. The ECDIS-based sailing system for a wind-powered navigational vessel according to claim 1, further comprising: the method for reserving the new route in the processing unit comprises the following steps:

set current route x_currentHas an objective function value of f (x)_current) New route x_newHas an objective function value of f (x)_new) Probability P of new lane replacing current lane_tThe following equation is satisfied:

$P_t=\left\{\begin{array}{cc}1& f\left(x_{current}\right)>f\left(x_{new}\right)\\ \exp (-\frac{f\left(x_{new}\right)-f\left(x_{current}\right)}{t})& f\left(x_{current}\right)\&le;f\left(x_{new}\right)\end{array}\right.$

where t is a control parameter in the algorithm, t_z+1＝a*t_zA is a number between 0 and 1, being the attenuation coefficient;an acceptance probability of t;

according to the above formula:

when f (x)_current)＞f(x_new) When the current air route is replaced by the new air route;

when f (x)_current)≤f(x_new) And then, the probability of replacing the current airline by the new airline is as follows:

$\exp (-\frac{f\left(x_{new}\right)-f\left(x_{current}\right)}{t});$

-generating a random number ∈ (0,1) and comparing it with P_tBy comparison, if P_tIf yes, replacing the current route with the new route;

if P_tIf yes, the new route is abandoned, and the current route is continuously used to generate a new route.