CN106525044B - The personnel positioning navigation system and its method of large-scale naval vessels based on Ship Structure Graphing - Google Patents

Abstract

The invention discloses a personnel positioning and navigation system for a large ship based on a hull structure diagram, which includes a main control system and a terminal carried by the staff, wherein the terminal at least includes a central processing module, a motion sensor module, a positioning calibration module and an interactive communication Module, the terminal realizes the determination of the initial position and position calibration through the positioning calibration module, and calculates the accurate position of the staff through the data obtained from the motion sensor; the interactive communication module is used to realize data exchange and human-computer interaction; in the main control system The hull structure diagram is installed. After each terminal uploads the data to the main control system through the interactive communication module, the main control system is responsible for obtaining the positioning information of each staff through the communication network, and combines the hull structure diagram on the screen in the control room. Realize graphical display. The method of the invention does not rely on electromagnetic signals, and is not limited by the stability and interference of electromagnetic signals like the positioning methods based on wireless local area networks and the like.

Description

Personnel positioning and navigation system and method for large ship based on hull structure diagram

technical field

The invention relates to a positioning and navigation system, in particular to a personnel positioning and navigation system for a large ship based on a hull structure diagram.

Background technique

Large ships at sea are important tools for building, developing and utilizing the ocean. However, the structure of large ships at sea is complex and the space is small. People who work and live in them are easy to get lost, and it is difficult to carry out effective escape and rescue when an emergency occurs. Therefore, it is necessary to develop a positioning system for personnel to monitor the location of personnel at all times. Since most large ships have a stacked structure, it is often difficult for satellite positioning systems such as GPS or Beidou to achieve better positioning results for staff.

At present, the positioning and navigation methods that can be applied to large ships are as follows:

The first type is an algorithm based on RFID (Radio Frequency Identification, Radio Frequency Identification) tags. For example, Gurry et al. proposed a passive RFID indoor positioning method based on space segmentation [1]. This method uses neighbor tags, that is, reference tags that are close to the target tag, for localization. Use the reader to read the power levels emitted by each reference tag and the tracked tag, and then judge the relative position of the tracking tag through comparison calculation. Then set a weight according to the signal strength of the tag, and use the method of three divisions to refine the positioning. Compared with the LANDMARC (LocAtioN iDentification based on dynaMic Active RfidCalibration, positioning identification based on dynamic active radio frequency identification measurement) system using RFID tags at the same time, this method has improved positioning accuracy, but it is an electromagnetic signal-based The positioning method is easy to be subjected to electromagnetic interference in sea ships with steel structures, but the present invention adopts a calculation-based method, which is more suitable for the environment of ships.

There is also a personnel positioning system based on ZigBee [2]. ZigBee is a low-power LAN protocol based on the IEEE802.15.4 standard. According to international standards, ZigBee technology is a short-distance, low-power wireless communication technology. After the module is turned on, the terminal node module carried by the staff will send a friendly handshake message according to the predetermined procedure, and the message packet will be received by the nearest routing node. Then upload its own network address and node module physical address information to the ground control center, and use the database to complete the positioning.

[references]

[1] Gao Rui, Cheng Lianglun, Hu Xin. A Passive RFID Indoor Positioning Method Based on Space Segmentation [J]. Computer Application Research, 2012, 29(1).

[2] Yu Yang, Zhang Dongwei, Cui Jianjun. Design of Underground Personnel Positioning System Based on ZigBee Technology [C]//Coal Mine Safety, Efficiency, and Clean Mining—Mechatronics New Technology Academic Conference. 2009:19-21.

Contents of the invention

The invention aims to complete a set of personnel positioning system applicable to large warships. Due to the complex structure of large ships and the difficulty of covering satellite positioning signals, personnel are easy to get lost, and the passages are often narrow, which can easily cause confusion when an accident occurs. This system adopts the method of self-calculation and positioning, and the data such as positioning reference come from the hull structure diagram necessary for the construction of each large ship. For the open-air part of the sea, satellite GPS positioning is used. When there is no GPS signal in the cabin, this system imitates the addressing mode of the human brain, and the calculation is performed through motion sensing devices (such as accelerometers, speedometers, gyroscopes, and other new types of motion sensors). The data collected by sensors, etc.) and the initial position obtained by GPS, according to the hull structure diagram, through the corresponding positioning algorithm to realize the real-time positioning of the personnel on the large ship, and calibrate the positioning at a specific position. For the multi-layer structure of large ships, the altimeter is used to assist in determining the number of layers the user is on. At the same time, the positioning data is transmitted back to the main control room in real time, so as to realize the real-time monitoring of the position and status of the personnel on the large ship, assist the staff to determine their own position in the ship with a complex structure, quickly escape in the event of an accident, and determine the rescue plan and other functions. .

In order to solve the above technical problems, the present invention proposes a personnel positioning and navigation system for large ships based on the hull structure diagram, which includes a main control system and a terminal carried by the staff, wherein the terminal includes at least a central processing module and a motion sensor module, a positioning calibration module and an interactive communication module, after the terminal realizes the determination of the initial position and the position calibration through the positioning calibration module, the accurate position of the staff is obtained by calculating the data obtained from the motion sensor; the interactive communication module It is used to realize data exchange and human-computer interaction; the main control system is equipped with a hull structure diagram, and after each terminal uploads data to the main control system through the interactive communication module, the main control system is responsible for passing through the communication network. Obtain the positioning information of each staff member, and realize the graphical display on the screen in the control room in combination with the hull structure diagram.

Wherein, the motion sensor module includes one or more of an accelerometer, a speedometer and a gyroscope. The positioning calibration module includes one or both of GPS and RFID.

The method for realizing navigation by using the above-mentioned personnel positioning and navigation system based on the hull structure diagram of a large ship includes the following contents:

1. Obtain information on the hull structure diagram: the information on the hull structure diagram is obtained after digital processing of the design drawing of the ship during construction, and information on obstacles, markers, movement restrictions and calibration points is also marked in it; at the beginning of the navigation system Before work, import the information of the hull structure diagram into the storage medium of the terminal and establish a corresponding coordinate system;

2. Determination of the current position coordinates and target position coordinates of the measured personnel: 2-1. Determination of the current position coordinates of the measured personnel: including the positioning of the personnel on the large ship above or below the sea surface and the work between the floor changes of the large ship Personnel positioning, among them, the positioning of the staff above the sea surface adopts the GPS differential maritime positioning method, and the positioning of the staff below the sea surface adopts the underwater positioning method based on the calculation of the hull structure diagram, and the data of the motion sensor is combined with the information of the hull structure diagram. The exact position of the staff; the positioning of the staff between the floor changes adopts the positioning method combined with the altimeter and the hull structure diagram; among them: the maritime positioning based on GPS difference is to set a benchmark for receiving GPS signals on the open-air part of the hull , using the relative relationship between the GPS positioning coordinates on the terminal carried by the staff and the reference positioning coordinates to determine the relative position of the tested staff on the ship; the underwater positioning is based on the measured personnel entering the cabin from the open area tracked by GPS After determining the initial position of the person under test from the situation in the cabin or the situation of the person under test obtained from the RFID tag, use the motion sensing device to sense the measurement data in real time, and compare the obtained measurement data with the position on the hull structure diagram. Real-time positioning and dynamic calibration of information and RFID transmitters; the positioning between floor changes is to use the altimeter to detect the changes of the measured personnel between floors; 2-2, the target position coordinates of the measured personnel are given by the end user;

3. Path planning: After obtaining the current position coordinates and target position coordinates of the measured personnel, use the two-way A* algorithm, genetic algorithm and neural network for route planning to obtain the best route;

4. Output of navigation information: The design of the navigation interface adopts the interface design of car GPS navigation or mobile phone map navigation, and simultaneously uses dual output of voice and screen information;

5. Data upload and processing: After the main control system obtains the positioning data sent back by each terminal, it displays the positions of all personnel in each area of the ship on the screen in the control room, and realizes the position distribution and working conditions of the measured personnel. real-time monitoring.

Compared with prior art, the beneficial effect of the present invention is:

First, the present invention can be adapted to both sea and sea positioning and navigation applications. The present invention adopts different methods for the personnel positioning operation in sea and submarine ships, can adapt to both situations simultaneously, and can realize seamless switching between satellite positioning and autonomous calculation positioning.

Second, the present invention is a computationally based positioning. For positioning and navigation in the cabin, the present invention adopts a calculation method based on the hull structure diagram. This method uses dynamic calibration data, combined with historical paths, hull structure diagrams, and data information collected by motion sensors (accelerometers, speedometers, gyroscopes, etc.), and calculates the position of the measured person through positioning algorithms. This method does not rely on electromagnetic signals, and will not be limited by the stability and interference of electromagnetic signals like positioning methods based on wireless local area networks.

Description of drawings

Figure 1 is a block diagram of a personnel positioning and navigation system for a large ship based on the hull structure diagram.

Detailed ways

The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the described specific embodiments are only for explaining the present invention, and are not intended to limit the present invention.

The design idea of the personnel positioning and navigation system of the large ship based on the hull structure diagram of the present invention is: as shown in Figure 1, before the system is used, the hull structure diagram of the large ship where the personnel to be tested should be obtained at first, and the hull structure diagram is imported into the positioning In the memory of the system, a three-dimensional coordinate system is established based on this. Then configure the corresponding sensors, RFID reading and writing modules, GPS modules, etc. for the system. The sensors that may be used include motion sensors such as accelerometers, speedometers, and gyroscopes, and configure interactive communication modules as needed. After completing the hardware configuration, write the corresponding positioning algorithm and program in the processor.

For the open-air part of the sea with GPS signals, use GPS to complete the positioning and navigation work. In the cabin without GPS and other satellite positioning signals coverage, after obtaining the initial position information through GPS or RFID, the initial position data and the data collected by the sensor can be handed over to the algorithm to calculate the real-time position of the staff, using the calibration point Carry out dynamic calibration, and display corresponding information on the output module of the terminal, and at the same time transmit the data back to the main control system for processing in real time.

At the same time, after the main control system obtains the positioning data sent back by each terminal, it displays the positions of all personnel in the work area on the screen of the main control room, and issues instructions to the staff through the communication system as needed to realize the monitoring of the staff. Real-time monitoring of location distribution and working conditions.

The present invention is a personnel positioning and navigation system for a large ship based on a hull structure diagram, which includes a main control system and a terminal carried by the staff, wherein the terminal at least includes a central processing module, a motion sensor module, a positioning calibration module and an interactive communication Modules, the CPU module, motion sensor module and positioning calibration module are used to realize basic real-time positioning functions, and the interactive communication module and other additional modules are used to realize advanced data exchange and human-computer interaction functions. The motion sensor module includes one or more of an accelerometer, a speedometer and a gyroscope. The positioning calibration module includes one or both of GPS and RFID. The main part of the positioning function of the terminal is to use GPS, RFID and other technologies to determine the initial position and position calibration through the positioning calibration module, and then calculate the accurate position of the staff by calculating the data obtained from the motion sensor. The main control system is a process for real-time monitoring of personnel holding positioning terminal equipment in the main control room of a large ship. The main control system is equipped with a hull structure diagram. After each terminal uploads data to the main control system through the interactive communication module, the main control system is responsible for obtaining the positioning information of each staff member through the communication network, and Combined with the hull structure diagram, the graphic display is realized on the screen in the control room. In this way, the personnel in the control room can conveniently monitor the number and specific positions of the staff in the working area, so as to facilitate their deployment and command.

The method for realizing navigation by utilizing the personnel positioning and navigation system of the large ship based on the hull structure diagram of the present invention includes the following contents:

1. Obtain the hull structure diagram information.

The information on the hull structure diagram is obtained after digital processing of the design diagram of the ship during construction, and information on obstacles, markers, movement restrictions and calibration points can be marked at the corresponding positions as required, so that the system can be more intelligent and accurate Complete the positioning and navigation work. Before the navigation system starts working, import the information of the hull structure diagram into the storage medium of the terminal and establish a corresponding coordinate system for reading and utilization during operation.

2. Determine the current position coordinates and the target position coordinates of the measured person.

The measured person's current position coordinates and target coordinates are necessary information for path planning and navigation. In the present invention, the coordinates of the target position of the measured person are given by the terminal user, and the positioning method of the current position of the measured person adopts different targeted methods for positioning the part on the sea under the sea (that is, inside the cabin). The maritime part adopts the GPS differential positioning method to adapt to the constantly moving ships and improve the positioning accuracy. The positioning inside the cabin adopts the positioning method based on the calculation of the hull structure diagram, and uses the data of the motion sensor combined with the information of the hull structure diagram to calculate the accurate position of the person.

2-1. Determination of the current position coordinates of the measured personnel: including the positioning of the staff above or below the sea surface on the large ship and the positioning of the staff between the floor changes of the large ship. Among them, the positioning of the staff above the sea surface adopts GPS difference The offshore positioning method of the above-mentioned method, the positioning of the staff below the sea surface adopts the underwater positioning method based on the calculation of the hull structure diagram, and the accurate position of the staff is obtained by combining the data of the motion sensor with the information of the hull structure diagram; the positioning of the staff between the floor changes adopts The positioning method combined with the altimeter and the hull structure diagram; where:

(1) In the open-air part of the sea surface of the hull, due to the good coverage of GPS and other satellite positioning signals, GPS positioning can be used to realize personnel positioning. However, because the ship is usually mobile, the position of the personnel on the ship cannot be determined directly by using the GPS signal, so it is necessary to set a reference for receiving the GPS signal at a fixed position on the ship, and use the relative relationship between the GPS positioning coordinates of the personnel and the positioning coordinates of the base station , to determine the relative position of the measured person on the ship. Moreover, due to the difference method, a certain positioning drift can be corrected, and its measurement accuracy is higher than that of GPS positioning alone. The maritime positioning based on GPS difference in the present invention is to set a reference for receiving GPS signals on the open-air part of the sea surface of the hull, and use the relative relationship between the GPS positioning coordinates on the terminal carried by the staff and the reference positioning coordinates to determine the measured work. The relative position of persons on board.

(2) For the interior of the cabin that is not covered by GPS and other satellite positioning signals, it is completed by calculation based on the hull structure diagram. After the initial position is determined by GPS (in the case of entering the cabin from the open area) or RFID tags (in the case of the cabin), motion sensing devices (such as speedometers, accelerometers, gyroscopes, and various new motion sensors, etc.) are used to determine the initial position. ) to obtain real-time perception and measurement data. And according to the obtained data, compare the information on the hull structure diagram with the regularly distributed RFID transmitters for real-time positioning and dynamic calibration. Undersea positioning in the present invention is to determine the initial position of the measured person according to the situation of the measured person entering the cabin from the open area tracked by GPS or the situation of the measured person in the cabin obtained by the RFID tag, and then use the motion sensor to determine the initial position of the measured person. The device perceives the measurement data in real time, and compares the information on the hull structure diagram with the RFID transmitter for real-time positioning and dynamic calibration according to the obtained measurement data;

(3) Since large warships generally have a multi-layer structure, and the structure of each layer is roughly the same, it becomes important to determine the floor where the personnel are located when performing the above calculation based on the hull structure diagram. The determination of the floor among the present invention adopts the mode that the altimeter (accelerometer) is combined with the hull structure diagram. The function of the altimeter is to detect the height change of the measured personnel, but the specific value of the altimeter to the height change is not accurate enough, which requires the information of the hull structure diagram. Since the place where people may change floors can only be near the stairs, and the distribution of floors is discrete, so near stairs, etc., when the height of the altimeter data changes up or down within a certain range, the floor data can be Add or subtract a layer.

3. Path planning.

After obtaining the current position coordinates and target position coordinates of the measured person, it can be handed over to the existing path planning algorithm (such as two-way A* algorithm, genetic algorithm, neural network, etc.) to plan the optimal path. Path planning can be completed locally at the terminal, or can be completed by the main control system. Local completion has the advantages of fast speed and no dependence on communication, and is suitable for use when there is no communication signal. The path planning algorithm of the main control system not only considers the needs of reaching the destination, but also uses the location data of other terminals to fully combine the actual situation of the entire ship's personnel distribution.

Fourth, the output of navigation information.

After obtaining the planned route, you can start to navigate. The design of the navigation interface adopts the interface design of the popular car GPS navigation or mobile phone map navigation, and adopts dual output of voice and screen information. At the same time, combined with the information of the building structure diagram, the user is notified in advance of the route ahead. In addition, the operation of dynamic calibration and positioning is continued while navigating, and when a person is detected to deviate from the preset route, a prompt is given and the path planning process is restarted.

5. Data uploading and processing: After obtaining the positioning data sent back by each terminal, the main control system displays the positions of all personnel in each area of the ship on the screen in the control room, and issues instructions to personnel through the communication system as needed. Realize real-time monitoring of the location distribution and working conditions of the tested personnel.

Although the present invention has been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative, rather than restrictive. Under the enlightenment of the present invention, many modifications can be made without departing from the gist of the present invention, and these all belong to the protection of the present invention.

Claims (1)

1. A method for personnel positioning and navigation of a large ship based on a hull structure diagram, wherein the personnel positioning and navigation system of a large ship based on a hull structure diagram is: a terminal that includes a main control system and a staff member, and the terminal is at least It includes a central processing module, a motion sensor module, a positioning calibration module, and an interactive communication module. After the terminal realizes the determination of the initial position and the position calibration through the positioning calibration module, it calculates the data obtained from the motion sensor module to obtain the staff's Accurate location; the interactive communication module is used to realize data exchange and human-computer interaction; the hull structure diagram is installed in the main control system, after each terminal uploads data to the main control system through the interactive communication module, the The main control system is responsible for obtaining the positioning information of each staff member through the communication network, and realizes the graphical display on the screen in the control room in combination with the hull structure diagram; it is characterized in that: the personnel positioning and navigation method based on the hull structure diagram includes the following contents : 1. Obtain information on the hull structure diagram: the information on the hull structure diagram is obtained after digital processing of the design drawing of the ship during construction, and information on obstacles, markers, movement restrictions and calibration points is also marked in it; at the beginning of the navigation system Before work, import the information of the hull structure diagram into the storage medium of the terminal and establish a corresponding coordinate system; 2. Determine the current position coordinates and target position coordinates of the staff: 2-1. The determination of the current position coordinates of the staff: including the positioning of the staff above or below the sea surface on the large ship and the positioning of the staff between the floor changes of the large ship. Among them, the positioning of the staff above the sea surface adopts GPS differential Offshore positioning method, the positioning of the staff below the sea surface adopts the underwater positioning method based on the calculation of the hull structure diagram, and the accurate position of the staff is obtained by combining the data of the motion sensor module with the information of the hull structure diagram; the positioning of the staff between floor changes adopts The positioning method combined with the altimeter and the hull structure diagram; where: Maritime positioning based on GPS differential is to set a benchmark for receiving GPS signals in the open-air area of the hull, and use the relative relationship between the GPS positioning coordinates on the terminal carried by the staff and the GPS positioning coordinates of the benchmark to determine the measured work. the relative position of persons on board; Undersea positioning is to determine the initial position of the staff according to the situation of the staff entering the cabin from the open area tracked by GPS or the situation of the staff in the cabin obtained by the RFID tag, and then use the motion sensor module to sense and obtain measurement data in real time , according to the obtained measurement data, compare the information of the hull structure diagram and the RFID tag to perform real-time positioning and dynamic calibration; The positioning of the staff between the floor changes is to use the altimeter to detect the height change of the staff between the floors near the stairs, that is, according to the information of the hull structure diagram, when the height data of the altimeter changes up or down within a certain range, the floor data add or subtract a layer; 2-2. The coordinates of the target position of the staff are given by the end user; 3. Path planning: After obtaining the current position coordinates and target position coordinates of the staff, use the two-way A* algorithm, genetic algorithm and neural network for route planning to obtain the best route; 4. Output of navigation information: The design of the navigation interface adopts the interface design of car GPS navigation or mobile phone map navigation, and simultaneously uses dual output of voice and screen information; 5. Data upload and processing: After the main control system obtains the positioning data sent back by each terminal, it displays the positions of all personnel in each area of the ship on the screen in the control room, and realizes the location distribution and working conditions of the staff. real time monitoring.