JP2003344437A - Ground speed calculation method and ground speed calculation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a ground speed calculation method and a ground speed calculation device suitable for realizing inexpensive and highly-accurate detection of the ground speed by utilizing a ground speed detection device having a comparatively long positioning cycle and a sea speed detection device having a shorter positioning cycle than the ground speed detection device in a marine structure. <P>SOLUTION: A sailing control system 1 has a constitution including an external environmental information input part 10 for inputting external environmental information such as a bow azimuth, the sea speed detection device 12 for detecting the speed of the marine structure against the water surface, the ground speed detection device 13 for detecting the speed of the marine structure against the ground surface, a driving force control device 14, and a propeller 15. The driving force control device 14 has a constitution including a driving force control part 140 including a target driving force calculation module 140a and an operation quantity calculation module, and a ground speed calculation part 141 for calculating an estimated value of the ground speed based on a detection result by the sea speed detection device 12 and a detection result by the ground speed detection device 13. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for calculating a ground speed in a ship, and more particularly to a ground speed calculation method and a ground speed calculation suitable for calculating the ground speed in a sampling period smaller than that of the ground speed detection device. Regarding the device.

[0002]

2. Description of the Related Art Conventionally, a heading direction information obtained from a heading direction detecting device such as a gyro compass or a magnetic compass is used to set the operation of a steering device (rudder) driven by an electric or hydraulic actuator while minimizing the operation. As a control device that holds the bow in the specified course direction, there is an automatic course holding device (autopilot). However, in actual voyages, the resistance of the hull changes due to the influence of tidal current and wind, and if the desired time is not obtained and the arrival time is distorted, or if the speed is too low, the autopilot operates sufficiently. If you do not do so (eg, the speed becomes too slow to steer), the course may be misaligned.

Therefore, in a large vessel, an autopilot is used in combination with speed control to allow the large vessel to travel at a constant speed, thereby enabling the vessel to travel as planned. In large ships, GPS, DGPS and Doppler log are mainly used as ground speed detecting devices for detecting ground speed. In addition, small vessels are more affected by tidal currents and winds than large vessels, so it is very effective to have the same configuration as large vessels, and the speed control input is ground speed. It is possible to always sail at the desired ground speed. Here, when performing ground speed control, GPS, DGPS are used as speed detection devices that can be used.
And there is a Doppler log. In particular, since GPS is inexpensive and can detect the position information of a ship, it is installed as a standard on ships equipped with recent propulsion devices.

[0004]

However, the GPS
The DGPS has a problem that the sampling period of the ground speed is as long as 1 second or more and is not suitable as an input for speed control in a small vessel which has a fine turning motion and is faster than a large vessel. In addition, the Doppler log, which is often used for large ships, can measure accurate ground speed in a shorter sampling period than GPS because the speed is calculated from the frequency change of the reflected wave of the strong ultrasonic wave emitted toward the sea floor.
There is a problem that it is more expensive than the above and the measurement limit is up to hundreds of tens of meters.

Further, there is a problem in that it is costly to newly install an expensive Doppler log in a small vessel equipped with a ground speed detecting device such as GPS in order to shorten the sampling period of the ground speed. Therefore, the present invention has been made by paying attention to the unsolved problem of such a conventional technique, and in a ship, rather than a ground speed detection device having a relatively long positioning cycle and this ground speed detection device. An object of the present invention is to provide a ground speed calculation method and a ground speed calculation device suitable for realizing inexpensive and highly accurate ground speed detection by utilizing a water speed detection device having a short positioning cycle.

[0006]

In order to achieve the above-mentioned object, a ground speed calculating method according to claim 1 of the present invention comprises:
A ground speed calculation method for detecting a speed of a ship with respect to the ground surface, wherein the ship has a propulsion device, a water speed detection device for detecting a speed of the ship with respect to the water surface, and a ground surface for detecting a speed of the ship with respect to the ground surface. And a speed detection device, the sampling period of the ground speed signal in the ground speed detection device is longer than the sampling period of the water speed signal in the water speed detection device, by the water speed detection device Based on the detected ground speed signal and the ground speed signal detected by the ground speed detecting device, an estimated value of the ground speed signal is calculated for each cycle shorter than the sampling cycle of the ground speed signal, and this estimation is performed. The feature is that the value is the detected value of the ground speed signal at that time.

That is, when the sampling period of the ground speed signal in the ground speed detecting device is longer than the sampling period of the water speed signal in the water speed detecting device,
Based on the water speed signal detected by the water speed detection device and the ground speed signal detected by the ground speed detection device, an estimated value of the ground speed signal is calculated for each cycle shorter than the sampling cycle of the ground speed signal. A ground speed detection method in which the calculation result is used as the detection value of the ground speed signal at that time, and a ground speed detection device with a relatively long sampling period is installed in a situation where the ground speed changes minutely. Even with such a ship, it is possible to detect speed information that changes in a cycle smaller than the sampling cycle of the onboard ground speed detection device.

According to a second aspect of the present invention, in the ground speed calculating method according to the first aspect, the speed deviation between the ground speed signal and the water speed signal is calculated for each sampling of the ground speed signal, and the sampling is performed. It is characterized in that a value obtained by adding the speed deviation to the water speed signal is calculated as an estimated value of the ground speed signal at that time. That is, the speed deviation between the ground speed signal and the water speed signal is calculated for each sampling of the ground speed signal, and a value obtained by adding the speed deviation to the sampled water speed signal is calculated as an estimated value of the ground speed. In addition, the calculation result is used as the detection value of the ground speed at that time.

The invention according to claim 3 is the method for calculating the ground speed according to claim 1 or 2, wherein the estimated value is calculated using at least one of a neural network, fuzzy inference, and CMAC. The feature is that it is calculated by In other words, it is a method of detecting the ground speed in which at least one of a neural network, fuzzy inference, and CMAC is used to calculate the estimated value.

Further, the invention according to claim 4 is the method for calculating the ground speed according to any one of claims 1 to 3, wherein the ship is a water turbine type log as the water speed detecting device, At least one of a pressure log and an electromagnetic log is provided. That is, this is a case where the ship is provided with at least one of a water turbine type log, a pressure type log, and an electromagnetic type log as a water speed detection device.

According to a fifth aspect of the present invention, in the ground speed calculating method according to any one of the first to fourth aspects, the ground speed detecting device is a GPS or a DG.
It is characterized by using the PS function. That is, the ship uses GPS, or
This is the case where either one of the DGPS is provided.

According to a sixth aspect of the present invention, there is provided a ground speed calculating device, a propulsion device, a water speed detecting device for detecting a speed with respect to the own water surface, and a ground speed detecting device for detecting a speed with respect to the own ground surface. A device, and a ground speed calculation device for calculating an estimated value of the ground speed for a ship comprising:
When the sampling period of the ground speed signal is longer than the sampling period of the water speed signal in the water speed detecting device, the water speed detected by the water speed detecting device and the ground speed detecting device are detected. It is characterized in that the estimated value of the ground speed signal is calculated for each cycle shorter than the sampling cycle of the ground speed signal based on the ground speed.

That is, when the sampling period of the ground speed signal is longer than the sampling period of the water speed signal in the water speed detecting device, the water speed detected by the water speed detecting device and the ground speed detecting device are detected. It is possible to calculate the estimated value of the ground speed signal for each cycle shorter than the sampling cycle of the ground speed signal based on the ground speed detected by.

Here, the present invention is an apparatus for calculating an estimated value of the ground speed for realizing the method for calculating the ground speed according to the first aspect of the present invention, and description thereof will be omitted because its effects are duplicated. According to a seventh aspect of the present invention, in the ground speed calculation device according to the sixth aspect, the speed deviation between the ground speed signal and the water speed signal is calculated for each sampling of the ground speed signal, and the sampled water speed is calculated. It is characterized in that a value obtained by adding the speed deviation to the speed signal is calculated as an estimated value of the ground speed signal at that time.

That is, the speed deviation between the ground speed signal and the water speed signal is calculated for each sampling of the ground speed signal, and a value obtained by adding the speed deviation to the sampled water speed signal is used as an estimated value of the ground speed. It is calculated. Here, the present invention is an apparatus for calculating an estimated value of the ground speed for realizing the ground speed calculation method according to claim 2, and description thereof will be omitted because its effects are duplicated.

The invention according to claim 8 is the ground speed calculating apparatus according to claim 6 or 7, wherein the estimated value is calculated using at least one of a neural network, fuzzy inference, and CMAC. The feature is that it is designed to do. In other words, neural network, fuzzy reasoning and CM are used to calculate the estimated value.
At least one of the ACs is used.

Here, the present invention is an apparatus for calculating an estimated value of the ground speed for realizing the method for calculating the ground speed according to claim 3, and description thereof will be omitted because its effects are duplicated. The invention according to claim 9 is the ground speed calculating device according to any one of claims 6 to 8,
The watercraft includes at least one of a water turbine type log, a pressure type log, and an electromagnetic type log as the water speed detection device.

Here, the present invention is a device for calculating an estimated value of the ground speed for realizing the method for calculating the ground speed according to claim 4, and description thereof will be omitted because its effects are duplicated. The invention according to claim 10 is the ground speed calculating device according to any one of claims 6 to 9, wherein the ground speed detecting device is a GPS or a DGPS.
It is characterized by using the function of.

Here, the present invention is an apparatus for calculating an estimated value of the ground speed for realizing the method for calculating the ground speed according to the fifth aspect of the present invention, and description thereof will be omitted because its effects are duplicated.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. 1 to 5 are diagrams showing an embodiment of a cruise control system including a ground speed detecting section according to the present invention. First, the configuration of a cruise control system including a ground speed detecting unit according to the present invention will be described with reference to FIG. FIG. 1 is a block diagram showing the configuration of a cruise control system according to the present invention.

As shown in FIG. 1, the cruise control system 1
Is an external environment information input unit 10 for inputting external environment information such as a heading, a water speed detection device 12 for detecting a speed of the ship with respect to the water surface, and a ground speed detection device for detecting a speed of the ship with respect to the ground surface. 13 and propulsion force control device 1
4 and the propulsion device 15 are included. The propulsion force control device 14 uses the target propulsion force calculation module 140a.
And a propulsion force control unit 1 including an operation amount calculation module
40, and a ground speed calculation unit 141 that calculates an estimated value of the ground speed based on the detection result of the water speed detection device 12 and the detection result of the ground speed detection device 13.

The target propulsive force calculation module 140a is for calculating the target value of the propulsive force based on the estimated value of the ground speed calculated by the ground speed calculating section 141. The operation amount calculation module 140b is for calculating the operation amount for operating the propulsion device so that the current propulsive force reaches the target value. The propulsion device 15 drives a propeller, a jet pump, or the like to run the ship, and has a configuration including a propulsive force adjusting device 150 that adjusts the propulsive force according to the operation amount from the operation amount calculation module 140b. ing.

Further, based on FIG. 2, the cruise control system 1
The configuration of the cruise control system 2, which is a more specific configuration example of 1., will be described. FIG. 2 is a block diagram showing the configuration of the cruise control system 2. As shown in FIG. 2, the navigation control system 2 includes a heading detection device 1 as an external environment information input unit.
0a, a pressure log 12a as a water speed detection device, a GPS 13a as a ground speed detection device, a cruise control device 20 as a propulsion force control device, and an outboard motor 21 as a propulsion device.
It has a configuration that includes and.

The heading detector 10a detects the heading of a ship such as a gyro compass and a magnetic compass. The gyro compass applies the characteristics of the gyroscope and the interaction of the rotational motion and gravity of the earth. The heading is detected, while the magnetic compass detects the heading by applying geomagnetism. The pressure log 12a is used to obtain the speed from the magnitude of the pressure applied to the outboard motor 21 and the pipe provided on the bottom of the ship, and is used in the high speed range (40 [k
m / h] or more). Mainly used for high speed cruising.

The GPS 13a receives the information from the satellite to detect the position information of the ship. Further, in the present embodiment, the Doppler frequency from the satellite is used to detect the ground speed of the small ship. It is possible. The cruise control device 20 includes an autopilot control unit 20.
0, and an electronic throttle valve control unit 20 as a propulsion force control unit
1 and a ground speed calculation unit 202.

The autopilot control unit 200 calculates a steering angle for correcting the deviation from the set course based on the bow direction detected by the bow direction detection device 10a and the set course set by the user 11. . The electronic throttle valve control unit 201 is configured to include a target engine speed calculation module 201a and an electronic throttle valve opening calculation module 201b.

Target engine speed calculation module 201
“A” is for calculating the target engine speed for correcting the deviation from the target speed based on the ground speed signal calculated by the ground speed calculation unit 202 and the target speed set by the user 11. The electronic throttle valve opening calculation module 201b uses an appropriate electronic throttle based on the target engine speed calculated by the target engine speed calculation module 201a, the current engine speed from the outboard motor 21, and the amount of change in the engine speed. The valve opening is calculated.

The ground speed calculating section 202 uses the pressure log 12a.
Based on the ground speed signal detected by the GPS 13a at the predetermined sampling cycle Tw and the ground speed signal detected by the GPS 13a at the predetermined sampling cycle Tg, the ground speed V
The estimated value Vg 'of g is calculated. In this embodiment, the sampling cycle is 2Tw ≦ T.
The relationship is g. That is, Vg is sampled once for Vw sampling that is performed at least twice.

The outboard motor 21 is a power steering device 2
10 and an electronic throttle valve device 211. The power steering device 210 is a device that changes the steering angle of the ship, and automatically turns the ship in response to a control signal. Here, the power steering device 210 is generally electrically driven,
Alternatively, it is a device driven by a hydraulic actuator.

The electronic throttle valve device 211 is capable of adjusting the intake air amount to the engine by opening and closing the electronic throttle valve according to a control signal. Further, a more specific operation of the cruise control system 2 shown in FIG. 2 will be described. Here, in the present embodiment, the system is configured such that the ground speed signal Vg calculated by the ground speed calculation unit 202, the output of the bow direction detection device 10a, and the user 1
Power steering device 210 based on the setting contents of 1
The outboard motor 21 of a small boat equipped with an electronic throttle valve device 211 and an electronic throttle valve device 211 is controlled, and auto pilot and speed control are executed as control contents.

Explaining the flow of the operation, when the user 11 inputs the target ground speed and the set course via the I / F and the navigation of the small vessel is started, first, the pressure log 12 is entered.
a to the water velocity signal which is constantly detected in the sampling cycle Tw by a and the sampling cycle Tg by the GPS 13a.
The ground speed signal constantly detected by the ground speed calculation unit 20
Entered in 2. Here, the sampling periods Tw and T
Since g has the above-described relationship, sampling of the water velocity Vg is performed a plurality of times (at least twice or more) for one sampling of the ground velocity Vg.

In the present embodiment, the ground speed calculator 2
02 is the water speed V that is first sampled after the sampling of this ground speed Vg every time the ground speed Vg is sampled.
The difference between w and the ground speed Vg (hereinafter referred to as speed deviation Vd in the present embodiment) is calculated, and the ground speed Vg is calculated.
A value obtained by adding the speed deviation Vd to each of the water speeds Vw sampled a plurality of times until the next sampling of g is calculated as an estimated value Vg ′ of the ground speed Vg at that time. That is, the sampling period T of the water velocity Vw
The estimated value Vg ′ of the ground speed Vg is calculated for each w. This estimated value Vg ′ is calculated by the electronic throttle valve control unit 20.
1 target engine speed calculation module 201a
Entered in. The relationship between the ground speed Vg, the water speed Vw, and the estimated value Vg ′ of the ground speed Vg is as shown in FIG. As can be seen from this figure, in the present embodiment,
The ground speed Vg is sampled every 1 second, and the water speed Vw is sampled every 0.1 second. The velocity deviation V between the ground speed Vg and the water speed Vw at the first sampling time (hatched portion in the figure) of the water speed Vw.
d is calculated, and the speed deviation Vd at this time is added to the water speed Vw sampled every 0.1 seconds until the next ground speed Vg is sampled, and the estimated value of the ground speed Vg with respect to the water speed Vw is calculated. It is calculated and output as Vg '.

On the other hand, in parallel with the operation processing of the ground speed calculating section 202, the bow direction from the bow direction detecting device 10a and the set course set by the user 11 are input to the autopilot control section 200. Based on these pieces of information, an appropriate steering angle is calculated so that the small boat runs toward the set course, and this steering angle is input to the power steering device 210 in the outboard motor 21. The power steering device 210 controls the heading of the vessel so that the vessel travels toward a target course by turning the rudder according to the acquired steering angle.

When the steering angle is calculated, the target engine speed calculation module 201a in the electronic throttle valve control unit 201 is set by the user 11 and the estimated value Vg 'calculated by the ground speed calculation unit 202. A target engine speed is calculated based on the target ground speed. Further, the calculated target engine speed is input to the electronic throttle valve opening calculation module 201b,
Therefore, an appropriate electronic throttle valve opening is calculated based on the target engine speed, the current engine speed fed back from the outboard motor 21, and the amount of change in the engine speed. Then, the calculated electronic throttle valve opening degree is input to the electronic throttle valve device 211 in the outboard motor 21, where the opening / closing operation of the electronic throttle valve is performed according to the input value, whereby the intake air amount is adjusted. The speed of the ship is controlled.

That is, the cruise control system 2 maintains the course and the cruise speed of the ship in an appropriate state by repeatedly performing the above-mentioned processing. Next, the flow of operation processing of the cruise control system 2 will be described with reference to FIG. FIG. 3 is a flowchart showing the operation processing of the cruise control system 2.
As shown in FIG. 3, first, the process proceeds to step S300, the target ground speed and the set course are input by the user 11 and the process proceeds to step S302.

In step S302, the initial value of the target engine speed is set, and the process proceeds to step S304. In step S304, the ground speed calculation unit 202
The velocity deviation Vd is cleared and the process proceeds to step S306. In step S306, the ground speed calculation unit 202 calculates the water speed Vw and GP acquired from the pressure log 12a.
The estimated value Vg ′ of the ground speed signal Vg is calculated based on the ground speed Vg acquired from S13a, and the process proceeds to step S308.

When the process proceeds to step S308, the autopilot control unit 200 causes the bow heading detection device 10 to operate.
An appropriate steering angle is calculated based on the heading detected by a and the set course input by the user 11, and the process proceeds to step S310. In step S310,
The target engine rotation speed calculation module 201a calculates the target engine rotation speed correction rate, and the process proceeds to step S312.

In step S312, the electronic throttle valve opening degree calculation module 201b calculates the electronic throttle valve opening degree correction rate, and the process proceeds to step S314. In step S314, the target engine rotation speed calculation module 201a calculates the target engine rotation speed based on the target engine rotation speed correction rate, and then proceeds to step S316.

In step S316, the electronic throttle valve opening degree calculation module 201b calculates the electronic throttle valve opening degree based on the electronic throttle valve opening degree correction rate, and the process proceeds to step S318. In step S318,
The electronic throttle valve device 211 is controlled based on the electronic throttle valve opening calculated by the electronic throttle valve opening calculation module 201b, and the process proceeds to step S320.

In step S320, the power steering device 210 is controlled based on the steering angle calculated by the auto-pilot control section 200, and step S322 is executed.
Move to. In step S322, it is determined whether or not the cruise control mode has been cancelled. If it is determined that the cruise control mode has been cancelled (Yes), the process proceeds to step S324, and otherwise.
(No) moves to step S306. Here, in the present embodiment, depending on the setting of the traveling control mode, when the setting (ON) of using the traveling control mode is set, the automatic control by the traveling control device 20 is performed, and when the setting is not used (OFF), the user is set. The vessel is maneuvered by the manual operation by.

When the process proceeds to step S324, it returns to the normal control and ends the process. Furthermore, based on FIG.
Estimated value V of the ground speed Vg in the ground speed calculation unit 202
The flow of g'calculation processing will be described. FIG. 4 is a flowchart showing the calculation process of the estimated value Vg ′ of the ground speed Vg in the ground speed calculation unit 202. As shown in FIG.
First, the process proceeds to step S400, the water velocity Vw is sampled at the sampling period Tw by the pressure log 12a, and the process proceeds to step S402. Here, Tw is set so as to have a cycle suitable for speed control of the ship.

In step S402, it is determined whether or not the ground speed Vg is sampled by the GPS 13a. If it is determined that the sampling has been performed (Yes), the process proceeds to step S404, and if not (No), step S4 is performed.
Move to 06. If the process proceeds to step S404,
The ground speed calculation unit 202 calculates the speed deviation Vd between the sampled ground speed Vg and the first sampled water speed Vw after sampling, and step S406.
Move to.

Upon proceeding to step S406, the ground speed calculating section 202 adds the speed deviation Vd and the sampled water speed Vw to the estimated value Vg of the ground speed Vg.
g ′ is calculated and the process is terminated. That is, step S4
In 02, when the ground speed Vg is sampled by the GPS 13a, the process of step S404 is performed to calculate the speed deviation Vd, and new sampling is executed after the previous sampling of the ground speed Vg is completed. If not, the process proceeds to step S406, and the estimated value Vg 'is calculated using the speed deviation Vd calculated from the previous ground speed Vg.

As described above, in the ground speed calculating section 202, the GPS having a longer speed sampling period than the pressure log 12a is used.
Ground speed Vg and pressure log 12 detected by 13a
Since the estimated value Vg 'of the ground speed Vg is calculated in the same sampling cycle as the pressure log 12a by using the water speed Vw detected by a, the ground speed until the next sampling is interpolated. Therefore, it becomes possible to cope with the ground speed that changes minutely due to the influence of the tidal current and the wind without using an expensive ground speed detecting device, and the ground speed control using this estimated value Vg '. By performing the above, it is possible to perform accurate control.

Here, the ground speed calculating section 202 shown in FIGS. 1 and 2 corresponds to the ground speed detecting device according to claims 6 to 10. In the above embodiment, the velocity deviation Vd is used to calculate the estimated value Vg ′ of the ground speed, but the present invention is not limited to this, and other calculation methods such as neural network, fuzzy inference, and CMAC are used. You may make it calculate the estimated value of ground speed using.

[0046]

As described above, according to the ground speed calculation method of the present invention, the sampling period of the ground speed signal in the ground speed detecting device is more than the sampling period of the water speed signal in the water speed detecting device. If the length is too long, based on the water speed signal detected by the water speed detection device and the ground speed signal detected by the ground speed detection device, the ground speed signal of the ground speed signal for each cycle shorter than the sampling cycle of the ground speed signal. Since the estimated value was calculated and the calculated result was used as the detection value of the ground speed signal at that time, a ground speed detection device with a relatively long sampling period was installed in a situation where the ground speed changes minutely. Even in a ship, it is possible to detect ground speed information that changes in a cycle smaller than the sampling cycle of the onboard ground speed detecting device. Further, the ground speed calculation device according to the present invention,
This is a device for realizing the ground speed calculation method, and its effects are duplicated, so description thereof will be omitted.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of a cruise control system according to the present invention.

FIG. 2 is a block diagram showing a configuration of a cruise control system 2.

FIG. 3 is a flowchart showing an operation process of the cruise control system 2.

FIG. 4 is a flowchart showing a calculation process of an estimated value Vg ′ of a ground speed Vg in a ground speed calculation unit 202.

FIG. 5 is a diagram showing a relationship among a ground speed Vg, a water speed Vw, and an estimated value Vg ′ of the ground speed Vg.

[Explanation of symbols]

1 Navigation Control System 10 External Environment Information Input Unit 12 Water Speed Detection Device 12a Pressure Log 13 Ground Speed Detection Device 13a GPS 14 Propulsion Control Device 15 Propulsion Device 2 Navigation Control System 20 Navigation Control Device 200 Autopilot Control Unit 201 electronic throttle valve control unit 201a target engine speed calculation module 201b electronic throttle valve opening calculation module 202 ground speed calculation unit 210 power steering device 211 electronic throttle valve device

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B63H 25/04 G01P 3/00 G01P 3/00 G01S 15/60 G01S 15/60 B63H 21/26 NM

Claims (10)

[Claims] 1. A ground speed calculation method for detecting a speed of a ship with respect to the ground surface, wherein the ship has at least a propulsion device and a water speed detection device for detecting a speed of the ship with respect to the water surface, and a ground speed of the ship. It has a ground speed detection device for detecting the speed, the sampling cycle of the ground speed signal in the ground speed detection device is longer than the sampling cycle of the water speed signal in the water speed detection device, the water Based on the ground speed signal detected by the speed detection device and the ground speed signal detected by the ground speed detection device, an estimated value of the ground speed signal is calculated for each cycle shorter than the sampling cycle of the ground speed signal. Then
A ground speed calculation method, wherein this estimated value is used as a detection value of a ground speed signal at that time. 2. A speed deviation between a ground speed signal and a water speed signal is calculated for each sampling of the ground speed signal, and a value obtained by adding the speed deviation to the sampled water speed signal is a ground speed at that time. The ground speed calculation method according to claim 1, wherein the ground speed is calculated as an estimated value of the signal. 3. The neural network, fuzzy inference, and CMAC (Cerebellar Model A) are used to calculate the estimated value.
The ground speed calculation method according to claim 1 or 2, wherein the calculation is performed by using at least one of the rithmetic computers). 4. The boat according to claim 1, wherein the watercraft includes at least one of a water mill type log, a pressure type log, and an electromagnetic type log as the water speed detection device. Or the ground speed calculation method described in paragraph 1. 5. The ground speed detecting device is a GPS (Glob).
al Positioning System) or DGPS (Different
5. The ground speed calculation method according to claim 1, wherein a function of ial GPS) is used. 6. An estimated value of the ground speed for a ship, comprising a propulsion device, a water speed detection device for detecting a speed with respect to its own water surface, and a ground speed detection device for detecting a speed with respect to its own ground surface. A ground speed calculating device for calculating the ground speed signal, when the sampling period of the ground speed signal is longer than the sampling period of the water speed signal in the water speed detecting device, the pair detected by the water speed detecting device. Based on the water speed and the ground speed detected by the ground speed detecting device, an estimated value of the ground speed signal is calculated for each cycle shorter than the sampling cycle of the ground speed signal. A ground speed calculation device. 7. A speed deviation between a ground speed signal and a water speed signal is calculated for each sampling of the ground speed signal, and a value obtained by adding the speed deviation to the sampled water speed signal is a ground speed at that time. The ground speed calculating device according to claim 6, wherein the ground speed calculating device calculates the signal as an estimated value. 8. The ground speed calculation according to claim 6 or 7, wherein the estimated value is calculated by using at least one of a neural network, fuzzy inference, and CMAC. apparatus. 9. The boat according to claim 6, wherein the watercraft includes at least one of a water turbine type log, a pressure type log, and an electromagnetic type log as the water speed detection device. Or the ground speed detecting device according to item 1. 10. The ground speed detecting device according to claim 6, wherein the ground speed detecting device uses a function of GPS or DGPS.