Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention. It should be noted that the terms "object," "first," "second," and the like in the description and the claims of the present invention and the above drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flowchart of a method for displaying ship track information according to an embodiment of the present invention. The method and the device are applicable to determining the track information of the ship in the navigation process of the ship and displaying the track information of the ship, so that the track information of the ship is provided for operators of the ship to refer to the situation of use. The track information of the ship may refer to a track direction of the ship. The method may be performed by a ship track information display device, which may be implemented in hardware and/or software, which may be configured in an integrated management apparatus of a ship. The integrated management device of the vessel may be an electronic device provided on the vessel for managing various relevant data of the vessel during sailing of the vessel. As shown in fig. 1, the method includes:
And 101, determining a speed mode of the ship.
Alternatively, the speed pattern of the vessel may be information characterizing whether the vessel is in a low speed sailing situation. Sailing a ship at a low speed may mean that the speed of the ship is low. When the speed mode of the ship is the low speed mode, the ship is indicated to be in the condition of sailing at a low speed. When the speed mode of the ship is the normal sailing mode, the ship is indicated to be not in the condition of low-speed sailing.
Optionally, the ship is provided with an inertial navigation device and a satellite navigation device. The inertial navigation device of the ship can be a hardware device arranged on the ship and used for measuring longitude and latitude coordinates, east direction speed and north direction speed of the ship by utilizing an inertial technology. The east-direction speed of the vessel may refer to the speed of movement of the vessel in the east-west direction. The north speed of the vessel may refer to the speed of movement of the vessel in the north-south direction. The satellite navigation device of the ship may be a hardware device provided on the ship for measuring longitude and latitude coordinates of the ship using satellite signals. The inertial navigation device can measure longitude and latitude coordinates, east speed and north speed of the ship at regular time according to preset frequency, and sends the measured longitude and latitude coordinates, east speed and north speed of the ship to the integrated management device. The satellite navigation device can measure longitude and latitude coordinates of the ship at regular time according to the preset frequency, and sends the measured longitude and latitude coordinates of the ship to the integrated management device.
Alternatively, the predetermined frequency may be a predetermined frequency. The preset frequency may be n hertz (Hz), where n is a positive integer greater than or equal to 2. Illustratively, n is 100. The inertial navigation device can measure longitude and latitude coordinates, eastern direction speed and north direction speed of the ship at regular time according to preset frequency, and can measure longitude and latitude coordinates, eastern direction speed and north direction speed of the ship every 10 milliseconds, and can measure longitude and latitude coordinates, eastern direction speed and north direction speed of the ship 100 times per second. The satellite navigation device can measure longitude and latitude coordinates of the ship at regular time according to preset frequency, the longitude and latitude coordinates of the ship are measured every 10 milliseconds, and the longitude and latitude coordinates of the ship can be measured 100 times per second.
Optionally, determining the speed mode of the ship comprises determining that the speed mode of the ship is a normal navigation mode after the ship starts to navigate, detecting whether absolute values of the eastern direction speed and the north direction speed which are latest measured by the inertial navigation device of the ship are smaller than a preset value or not at regular time, updating the speed mode of the ship to a low speed mode when the absolute values of the eastern direction speed and the north direction speed which are latest measured by the inertial navigation device of the ship are smaller than the preset value, and updating the speed mode of the ship to the normal navigation mode when the absolute value of the eastern direction speed or the north direction speed which are latest measured by the inertial navigation device of the ship is larger than or equal to the preset value.
Optionally, whether the integrated management device receives the navigation start prompt information may be detected, and when it is detected that the integrated management device receives the navigation start prompt information, it may be determined that the ship starts to navigate, and then it is determined that the speed mode of the ship is the normal navigation mode. The navigation start prompt information may be preset information for characterizing that the ship starts to navigate. When the ship starts to voyage, the target user can send voyage start prompt information to the integrated management equipment through the terminal equipment. The target user may be a technician responsible for managing the integrated management device.
Optionally, the eastern direction speed and the north direction speed sent by the inertial navigation device and received by the integrated management device are the eastern direction speed and the north direction speed measured by the inertial navigation device. The method comprises the steps of detecting whether the absolute value of the east speed and the north speed, which are measured by the inertial navigation equipment of the ship, is smaller than a preset value or not at regular time, and detecting whether the absolute value of the east speed, which is transmitted by the inertial navigation equipment and is received by the integrated management equipment, is smaller than the preset value or not according to a first time interval. The first time interval may be a preset time interval. Illustratively, the first time interval is 10 seconds. After determining that the ship starts sailing, determining that the speed mode of the ship is a normal sailing mode, and then performing an operation of detecting whether the absolute value of the east speed transmitted by the inertial navigation device which is received by the integrated management device last is smaller than a preset value or not at intervals of a first time, and detecting whether the absolute value of the east speed transmitted by the inertial navigation device which is received by the integrated management device last is smaller than the preset value or not. The preset value may be a preset speed value. In general, if the absolute values of the eastern direction speed and the north direction speed which are measured by the inertial navigation device are smaller than the preset values, the speed mode of the ship can be determined to be the low speed mode when the ship is sailing at a low speed. If the absolute value of the eastern direction speed or the north direction speed which is measured by the inertial navigation device is larger than or equal to a preset value, the speed mode of the ship can be determined to be a normal navigation mode under the condition that the ship is not in low-speed navigation. The unit of speed in the embodiments of the present invention is the section (Kn). Illustratively, the predetermined value is 2 knots (Kn).
Optionally, when it is detected that the absolute value of the eastern speed measured by the inertial navigation device that is latest received by the integrated management device is smaller than a preset value and the absolute value of the eastern speed measured by the inertial navigation device that is latest received by the integrated management device is smaller than a preset value, that is, when it is detected that the absolute values of the eastern speed and the northbound speed that are latest measured by the inertial navigation device of the ship are both smaller than the preset value, the speed mode of the ship may be updated to the low-speed mode. When the absolute value of the eastern speed measured by the inertial navigation device which is latest received by the integrated management device is detected to be larger than or equal to a preset value or the absolute value of the eastern speed measured by the inertial navigation device which is latest received by the integrated management device is detected to be larger than or equal to a preset value, namely, the absolute value of the eastern speed or the northbound speed which is latest measured by the inertial navigation device of the ship is detected to be larger than or equal to the preset value, the speed mode of the ship can be updated to a normal navigation mode.
Optionally, determining the speed pattern of the vessel includes determining the speed pattern of the vessel based on pattern selection information entered by the target user.
Alternatively, the mode selection information may be information for characterizing that the speed mode of the ship is a low speed mode or a normal sailing mode. The mode selection information includes low speed mode selection information and normal navigation mode selection information. The low speed mode selection information may be information for characterizing that the speed mode of the ship is a low speed mode. The normal sailing mode selection information may be information for characterizing a speed mode of the ship as a normal sailing mode. After the ship starts sailing, the target user may input the mode selection information by filling or selecting the mode selection information in the mode selection information input area of the ship navigation management page of the integrated management apparatus. The ship navigation management page can be a page which is arranged in the integrated management equipment and used for interacting with a user, providing related data of the ship for the user and acquiring the related data of the ship input by the user. The mode selection information input area may be a page area for filling out or selecting mode selection information set in the ship navigation management page.
Alternatively, the target user may fill or select the normal navigation mode selection information in the mode selection information input area of the ship navigation management page of the integrated management apparatus, thereby inputting the normal navigation mode selection information. The target user may fill or select the low-speed mode selection information in the mode selection information input area of the ship navigation management page of the integrated management apparatus, thereby inputting the low-speed mode selection information. The speed mode of the ship is determined according to the mode selection information input by the target user, wherein the speed mode of the ship is determined to be a normal navigation mode when the target user is detected to fill or select the normal navigation mode selection information in the mode selection information input area of the ship navigation management page of the integrated management device, and the speed mode of the ship is determined to be a low speed mode when the target user is detected to fill or select the low speed mode in the mode selection information input area of the ship navigation management page of the integrated management device.
And 102, when the speed mode of the ship is a low-speed mode, counting the average value of the east speed measured by the inertial navigation equipment of the ship received every second and the average value of the north speed measured by the inertial navigation equipment received every second, determining a longitude position change value and a latitude position change value of the ship according to the average value of the east speed and the north speed counted in N seconds before the current moment, determining the track direction of the ship according to the longitude position change value and the latitude position change value, and displaying the track direction of the ship.
Alternatively, the east speed measured by the inertial navigation device of the ship received per second is all the east speeds sent by the inertial navigation device received per second. The north-oriented speed measured by the inertial navigation device received every second is all the north-oriented speeds sent by the inertial navigation device received every second. And when the speed mode of the ship is a low-speed mode, counting the average value of all east speeds sent by the inertial navigation equipment received in each second aiming at all east speeds sent by the inertial navigation equipment received in each second. And counting the average value of all the north speeds sent by the inertial navigation device received in each second aiming at all the north speeds sent by the inertial navigation device received in each second.
Alternatively, for any one second after the start of statistics, the average value of all east speeds sent by the inertial navigation device received in one second may be expressed as. Wherein,Is the average of all east speeds sent by inertial navigation devices received in a second,For the i-th east speed transmitted by the inertial navigation device received in one second, i=1, 2,..n, n is a preset frequency, i.e. the total number of east speeds transmitted by the inertial navigation device received in one second,Is the sum of all east speeds sent by the inertial navigation device received in one second.
Alternatively, for any one second after the start of statistics, the average value of all north speeds sent by the inertial navigation device received in one second may be expressed as. Wherein,Is the average of all north speeds sent by inertial navigation devices received in one second,For the i-th north speed transmitted by the inertial navigation device received in one second, i=1, 2,..n, n is a preset frequency, i.e. the total number of north speeds transmitted by the inertial navigation device received in one second,Is the sum of all north speeds sent by inertial navigation devices received in one second.
Alternatively, after the counted number of seconds reaches N, the longitude position change value and the latitude position change value of the ship may be determined at the start timing according to the average value of the east speed and the north speed counted in N seconds before the current time, the track direction of the ship may be determined according to the longitude position change value and the latitude position change value, and the track direction of the ship may be displayed.
Optionally, determining the longitude position change value and the latitude position change value of the ship at regular time according to the average value of the east speed and the north speed counted in N seconds before the current moment, determining the track direction of the ship according to the longitude position change value and the latitude position change value, and displaying the track direction of the ship comprises the following operations of determining the longitude position change value of the ship according to the average value of the east speed counted in N seconds before the current moment, determining the latitude position change value of the ship according to the average value of the north speed counted in N seconds before the current moment, determining the track direction of the ship according to the longitude position change value and the latitude position change value, and displaying the track direction of the ship on a ship navigation management page.
Alternatively, the operations of determining the longitude position change value of the ship based on the average value of the east speed counted in N seconds before the current time, determining the latitude position change value of the ship based on the average value of the north speed counted in N seconds before the current time, determining the track direction of the ship based on the longitude position change value and the latitude position change value, and displaying the track direction of the ship on a ship navigation management page may be performed at regular intervals. The second time interval may be a preset time interval. The second time interval is, for example, 1 second. The method may further comprise the steps of starting to execute the operations of determining the longitude position change value and the latitude position change value of the ship according to the average value of the east speed and the north speed counted in N seconds before the current moment at intervals of a second time after the counted number of seconds reaches N, determining the track direction of the ship according to the longitude position change value and the latitude position change value, and displaying the track direction of the ship, wherein the operations comprise determining the longitude position change value of the ship according to the average value of the east speed counted in N seconds before the current moment, determining the latitude position change value of the ship according to the average value of the north speed counted in N seconds before the current moment, determining the track direction of the ship according to the longitude position change value and the latitude position change value, and displaying the track direction of the ship on a ship navigation management page.
Optionally, the average value of the N eastern speeds counted in N seconds before the current time is the average value of the N eastern speeds counted up to date before the current time. The longitudinal position change value of the ship is a numerical value that can be used to characterize the position change of the ship in the longitudinal direction. The longitude position change value of the ship may refer to the sum of the averages of the eastern speeds counted in N seconds before the current time. And determining the longitude position change value of the ship according to the average value of the eastern speeds counted in N seconds before the current moment, wherein the method comprises the step of calculating the sum of the average values of N eastern speeds counted last before the current moment to obtain the longitude position change value of the ship. The longitude position change value of the ship can be expressed as. Wherein,Is a longitude position variation value of the ship,For the ith average of the N eastern speed averages counted up to the present time, i=1, 2,..n,Is the sum of the average of the N eastern speeds counted up to date before the current moment. N may be a positive integer greater than or equal to 3. Illustratively, N is 3.
Optionally, the average value of the north speeds counted in N seconds before the current time is the average value of the N north speeds counted up to date before the current time. The latitude position change value of the ship is a numerical value that can be used to characterize the position change of the ship in the latitude direction. The latitude position change value of the ship may refer to the sum of the average values of the north speeds counted in N seconds before the current time. And determining the latitude position change value of the ship according to the average value of the north speeds counted in N seconds before the current moment, wherein the step of calculating the sum of the average values of the N north speeds counted up to date before the current moment is carried out to obtain the latitude position change value of the ship. The latitude position change value of the ship can be expressed as. Wherein,Is the latitude position change value of the ship,For the ith average of the newly counted averages of N north speeds before the current time, i=1, 2,..n,Is the sum of the average of the N north speeds counted up to date before the current moment. N may be a positive integer greater than or equal to 3. Illustratively, N is 3.
Optionally, determining the track direction of the ship according to the longitude position variation value and the latitude position variation value comprises calculating the track direction of the ship by using a first calculation formula:
,
Wherein, COG is the track direction of the ship,Is a longitude position variation value of the ship,For the latitude position change value of the ship, atctg () is an arctangent function. The first calculation formula may be a formula for determining a track direction of the ship according to a longitude position variation value of the ship and a latitude position variation value of the ship, which are preset in the integrated management apparatus.
Optionally, displaying the track direction of the ship on the ship navigation management page comprises displaying the track direction of the ship on a track direction display area of the ship navigation management page. The track direction display area may be a page area for displaying a track direction of the ship, which is set in the ship navigation management page.
Alternatively, when the inertial navigation device interrupts transmitting the east and north speeds, the operation of determining the track direction of the ship is stopped, and the received east and north speeds are emptied. When inertial navigation equipment resumes sending east speed and north speed, start counting the average value of east speed measured by inertial navigation equipment of the ship received every second, the average value of north speed measured by inertial navigation equipment received every second, regularly determine longitude position change value and latitude position change value of the ship according to the average value of east speed and north speed counted in N seconds before the current moment, determine track direction of the ship according to the longitude position change value and the latitude position change value, and display track direction of the ship.
And 103, determining the track direction of the ship according to the position information measured by the satellite navigation equipment of the ship at regular time when the speed mode of the ship is the normal navigation mode, and displaying the track direction of the ship.
Optionally, in the case that the speed mode of the ship is the normal navigation mode, the track information of the ship may be determined according to the position information measured by the satellite navigation device, and the track information of the ship may be displayed.
Optionally, determining the track direction of the ship at regular time according to the position information measured by the satellite navigation equipment of the ship and displaying the track direction of the ship at regular time comprises the following steps of calculating the track direction of the ship according to the longitude and latitude coordinates of the two ships which are newly measured by the satellite navigation equipment by using a preset track direction calculating algorithm and displaying the track direction of the ship. The preset track direction calculation algorithm may be an algorithm preset in the integrated management device for calculating a track direction of the ship according to two longitude and latitude coordinates of continuous measurement of the ship. Displaying the track direction of the ship on the ship navigation management page comprises displaying the track direction of the ship on a track direction display area of the ship navigation management page.
Alternatively, the following operations may be performed at regular intervals, in which the track direction of the ship is calculated according to the longitude and latitude coordinates of the two ships newly measured by the satellite navigation device using a preset track direction calculation algorithm, and the track directions of the ships are displayed. When the speed mode of the ship is the normal navigation mode, a preset track direction calculation algorithm can be executed at intervals of a second time, the track direction of the ship is calculated according to the longitude and latitude coordinates of the two ships which are newly measured by the satellite navigation equipment, and the operation of the track direction of the ship is displayed. The second time interval is, for example, 1 second.
Optionally, the method further comprises the step of carrying out stability test on M continuous track directions determined before the current moment at regular time in the initial stage of determining the track direction of the ship, and storing the M continuous track directions passing the stability test.
Alternatively, M may be a positive integer of 6 or more. Illustratively, N is 6. The initial stage of the track direction of the ship may refer to determining the target duration after the track direction of the first ship, or may refer to re-determining the target duration after the track direction of the first ship under the condition that the inertial navigation device resumes sending the east speed and the north speed. The target time period may be a preset time period. The target time period is, for example, 3 minutes or 5 minutes.
Optionally, the method comprises the steps of carrying out stability test on M continuous track directions determined before the current moment in a timing mode, storing the M continuous track directions passing the stability test, wherein the method comprises the steps of calculating the difference value between each track direction of the M continuous track directions and the previous track direction after each time of determining the M continuous track directions, judging whether the absolute value of the difference value between each track direction and the previous track direction is smaller than or equal to a target value, determining that the M continuous track directions pass the stability test if the absolute value of the difference value between each track direction of the M continuous track directions and the previous track direction is smaller than or equal to the target value, and storing the M continuous track directions passing the stability test to a target data file if the absolute value of the difference value between any track direction of the M continuous track directions and the previous track direction is larger than the target value, and determining that the M continuous track directions do not pass the stability test.
Optionally, the previous track direction of the track direction refers to the track direction that was newly determined before the track direction was determined. Calculating a difference between each of the M consecutive track directions and a previous track direction includes calculating a difference between each of the M consecutive track directions and the previous track direction using the following second calculation formula for each of the M consecutive track directions:
,
Wherein,For any one of M consecutive track directions,Is thatIs used to determine the track direction of the car,Is thatThe difference from the previous track direction. The second calculation formula may be a formula for calculating a difference between the track direction and the previous track direction, which is preset in the integrated management apparatus.Representative determinationIs used for the time of day (c),Representative determinationIs a time of day (c).
Alternatively, the target value may be the product of the maximum rate of change of the track direction of the vessel and the time difference between the moments of determining the two track directions. The maximum rate of change of the track direction of the vessel may be 10 degrees per second. The time difference between the moments of determining the two track directions may be 1 second. The target data file may be a file preset in the integrated management apparatus for storing the track directions passing the smoothness check.
Optionally, the method further comprises the step of carrying out data anomaly detection on the new track direction according to the previous track direction when the new track direction is determined each time, and determining that the new track direction is valid data or anomalous data. The anomaly data may be track directions for which numerical anomalies exist. Valid data may refer to track directions for which no numerical anomalies exist. And when a new track direction is determined each time after the first track direction is determined, carrying out data anomaly detection on the new track direction according to the previous track direction, and determining the new track direction as effective data or anomaly data.
Optionally, the new track direction is checked for data anomalies according to the previous track direction, the new track direction is determined to be effective data or anomalous data, the method comprises the steps of calculating a difference value between the new track direction and the previous track direction of the new track direction, judging whether the absolute value of the difference value between the new track direction and the previous track direction of the new track direction is smaller than or equal to a target value, determining that the new track direction is effective data if the absolute value of the difference value between the new track direction and the previous track direction of the new track direction is smaller than or equal to the target value, and determining that the new track direction is anomalous data if the absolute value of the difference value between the new track direction and the previous track direction of the new track direction is larger than the target value.
Optionally, if the new track direction is determined to be the valid data, displaying the new track direction, and storing the new track direction in the valid data file. The valid data file may be a file for storing valid data set in advance in the integrated management apparatus.
Optionally, if the new track direction is determined to be abnormal data, performing abnormal data continuous compensation processing according to the effective data determined before the current moment. Performing the anomaly data subsequent processing may refer to generating a new subsequent track direction. The continuous track direction of the new track direction can be the track direction which has no numerical abnormality and can be used for replacing the new track direction and is generated according to the effective data in the effective data file under the condition that the data of the new track direction has deviation.
Optionally, the abnormal data continuous compensation processing is performed according to the effective data determined before the current moment, wherein the abnormal data continuous compensation processing comprises the steps of determining that a continuous compensation track direction of a new track direction cannot be generated if the total number of track directions stored in the effective data file is less than or equal to 1, and continuously determining the next new track direction.
Optionally, the abnormal data continuous compensation processing is performed according to the valid data determined before the current moment, including that if the total number of track directions stored in the valid data file is equal to 2, the following third calculation formula is used to calculate the difference between the two track directions stored in the valid data file:
,
Wherein,AndFor both track directions stored in the active data file,For the track directions stored in the valid data file first in the two track directions stored in the valid data file,For the track directions stored in the valid data file later in the two track directions stored in the valid data file,The difference between the two track directions stored in the effective data file; track directions stored in the effective data file after two track directions stored in the effective data fileAnd the difference between the two track directions stored in the valid data fileThe sum of the track directions is determined as the continuous track direction of the new track direction; and displaying the continuous track direction of the new track direction, and clearing the track direction stored in the effective data file. The new complementary track direction can be expressed as。And supplementing the new track direction. The third calculation formula may be a formula preset in the integrated management apparatus for calculating a difference between two track directions stored in the effective data file.
Optionally, the abnormal data continuous compensation processing is carried out according to the effective data determined before the current moment, and comprises the steps of determining the continuous compensation track direction of the new track direction according to each track direction stored in the effective data file if the total number of the track directions stored in the effective data file is more than 2, and displaying the continuous compensation track direction of the new track direction.
Optionally, m track directions are stored in the effective data file, and m is a positive integer greater than 2. The m tracks are arranged according to the time sequence stored in the effective data file. The first track direction stored into the valid data file is first ordered. The second track stored in the valid data file is ranked in the second position. And so on, the mth track stored in the valid data file is ranked in the mth bit. For each of the m track directions, the track direction preceding the track direction refers to the track direction that is arranged in the previous position of the track direction. For each track direction except the track direction arranged at the first position in the m track directions, calculating the difference between the track direction and the previous track direction by using a second calculation formula to obtain m-1 difference values.For the difference between the ith track direction and the previous track direction of the m track directions,To determine the moment of the track direction of the ith bit of the m track directions, i=2.The difference between the track direction arranged at the second position and the previous track direction in the m track directions.Is the difference between the track direction arranged at the mth position and the previous track direction in the m track directions. Then, calculating the m-1 difference values to obtain a fitting functionSo that it satisfies the following conditions: . The fitting function can be obtained by the condition of extremum solving of the multiple functionsIn (a) and (b)(k=0,1),(K=0, 1) is constant, thereby obtaining a fitting function. Fitting functionI.e. data(I=2,..m.) fitting function.Is the current time. Will beTo be fitted to a fitting functionThe obtained value is the predicted value of the difference between the (m+1) th track direction and the previous track direction stored in the effective data file. Arranging the track direction at the mth position in the m track directionsAnd a predictive value of a difference between the (m+1) th track direction and the previous track direction stored in the effective data fileAnd determining the sum as the continuous track direction of the new track direction. The new complementary track direction can be expressed as。And supplementing the new track direction.
Optionally, the condition of extremum is obtained by a multiple function: j=0, 1. The above formula is expressed by matrix, the system of equation coefficient matrix is a symmetrical positive definite matrix, so that there is a unique solution, and the solution is obtained from the equation(k=0,1)。
Optionally, if the next new track direction is still abnormal data, continuing to generate a continuous complementary track direction of the next new track direction. A maximum of m/2 data are fitted at a time. And when the time length of generating the continuous complementary track direction exceeds the maximum time length, clearing the stored effective data in the effective data file. The maximum duration may be a preset duration. And if the next new track direction is the effective data, the effective data stored in the effective data file is emptied, and the new effective data is restored.
Optionally, boundary value processing is carried out on the generated continuous flight path direction, so that the continuous flight path direction out-of-range is prevented. The processing algorithm for carrying out boundary value processing on the continuous flight path supplementing direction is as follows:
,
Wherein,And supplementing the track direction for the generated continuous flight path.
According to the technical scheme, when the speed mode of the ship is the low speed mode, the average value of the east speed measured by the inertial navigation equipment of the ship and the average value of the north speed measured by the inertial navigation equipment are counted every second, the longitude position change value and the latitude position change value of the ship are determined according to the average value of the east speed and the north speed counted in N seconds before the current moment in time, the track direction of the ship is determined according to the longitude position change value and the latitude position change value, the track direction of the ship is displayed, when the speed mode of the ship is the normal navigation mode, the track direction of the ship is determined according to the position information measured by the satellite navigation equipment of the ship, and the track direction of the ship is displayed, so that the problem that the track information of the ship cannot be stably displayed under the condition that the ship is sailed at a low speed is solved, the track information source of the ship cannot be increased, the track information of the ship can be accurately displayed under the condition that the ship is sailed at the low speed, the track information of the ship can be accurately displayed under the condition that the information measured by the satellite navigation equipment is determined, and the track information of the ship is accurately displayed under the condition that the track information of the ship is displayed on the low speed, and the track information of the ship is accurately displayed under the condition that the track information is stable, and the track information of the ship is displayed on the track information.
According to the technical scheme, through real ship verification, the track information can be stably displayed in ship navigation, and the method can be applied to ships of different types.
Fig. 2 is a flowchart of a method for displaying ship track information according to an embodiment of the present invention. Embodiments of the invention may be combined with various alternatives to one or more of the embodiments described above. As shown in fig. 2, the method includes:
step 201, determining a speed mode of the ship according to mode selection information input by a target user.
And 202, when the speed mode of the ship is a low-speed mode, counting the average value of the east speed measured by the inertial navigation equipment of the ship received every second and the average value of the north speed measured by the inertial navigation equipment received every second, determining a longitude position change value and a latitude position change value of the ship according to the average value of the east speed and the north speed counted in N seconds before the current moment, determining the track direction of the ship according to the longitude position change value and the latitude position change value, and displaying the track direction of the ship.
And 203, determining the track direction of the ship according to the position information measured by the satellite navigation equipment of the ship at regular time when the speed mode of the ship is the normal navigation mode, and displaying the track direction of the ship.
According to the technical scheme, the selection function of the information source of the track information by the user can be increased, the speed mode of the ship is determined according to the mode selection information input by the user, the track information of the ship is determined and displayed according to the speed mode of the ship by using information measured by the inertial navigation equipment or the satellite navigation equipment of the ship, the track direction of the ship can be accurately determined and displayed based on the east speed and the north speed measured by the inertial navigation equipment of the ship under the condition that the ship sails at a low speed, the track direction of the ship is relatively stable, and the stability and the accuracy of the track information display process of the ship are improved.
Fig. 3 is a schematic structural diagram of a ship track information display device according to an embodiment of the present invention. The apparatus may be configured in an electronic device. As shown in fig. 3, the apparatus comprises a mode determination module 301, a first display module 302 and a second display module 303.
The system comprises a mode determining module 301, a first display module 302, a second display module 303 and a timing module, wherein the mode determining module 301 is used for determining a speed mode of a ship, the first display module 302 is used for counting the average value of east speed measured by an inertial navigation device of the ship received every second and the average value of north speed measured by the inertial navigation device received every second when the speed mode of the ship is a low speed mode, determining a longitude position change value and a latitude position change value of the ship according to the average value of the east speed and the north speed counted in N seconds before the current moment, determining the track direction of the ship according to the longitude position change value and the latitude position change value, and displaying the track direction of the ship, and the second display module 303 is used for determining the track direction of the ship according to the position information measured by a satellite navigation device of the ship and displaying the track direction of the ship when the speed mode of the ship is a normal navigation mode.
According to the technical scheme, when the speed mode of the ship is the low speed mode, the average value of the east speed measured by the inertial navigation equipment of the ship and the average value of the north speed measured by the inertial navigation equipment are counted every second, the longitude position change value and the latitude position change value of the ship are determined according to the average value of the east speed and the north speed counted in N seconds before the current moment in time, the track direction of the ship is determined according to the longitude position change value and the latitude position change value, the track direction of the ship is displayed, when the speed mode of the ship is the normal navigation mode, the track direction of the ship is determined according to the position information measured by the satellite navigation equipment of the ship, and the track direction of the ship is displayed, so that the problem that the track information of the ship cannot be stably displayed under the condition that the ship is sailed at a low speed is solved, the track information source of the ship cannot be increased, the track information of the ship can be accurately displayed under the condition that the ship is sailed at the low speed, the track information of the ship can be accurately displayed under the condition that the information measured by the satellite navigation equipment is determined, and the track information of the ship is accurately displayed under the condition that the track information of the ship is displayed on the low speed, and the track information of the ship is accurately displayed under the condition that the track information is stable, and the track information of the ship is displayed on the track information.
In an optional implementation manner of the embodiment of the present invention, optionally, the first display module 302 is configured to determine, at execution timing, a longitude position change value and a latitude position change value of the ship according to an average value of an east speed and a north speed counted in N seconds before a current time, determine a track direction of the ship according to the longitude position change value and the latitude position change value, and display a track direction of the ship, and is specifically configured to perform, at execution timing, an operation of determining a longitude position change value of the ship according to an average value of an east speed counted in N seconds before the current time, an operation of determining a latitude position change value of the ship according to an average value of a north speed counted in N seconds before the current time, and display a track direction of the ship on a ship navigation management page according to the longitude position change value and the latitude position change value.
In an optional implementation manner of the embodiment of the present invention, the mode determining module 301 is specifically configured to determine that, after determining that the ship starts to voyage, the speed mode of the ship is a normal voyage mode, periodically detect whether absolute values of an eastern speed and a north speed that are newly measured by an inertial navigation device of the ship are smaller than a preset value, update the speed mode of the ship to a low speed mode when detecting that the absolute values of the eastern speed and the north speed that are newly measured by the inertial navigation device of the ship are both smaller than the preset value, and update the speed mode of the ship to the normal voyage mode when detecting that the absolute value of the eastern speed or the north speed that are newly measured by the inertial navigation device of the ship is greater than or equal to the preset value.
In an optional implementation manner of the embodiment of the present invention, optionally, the mode determining module 301 is specifically configured to determine a speed mode of the ship according to mode selection information input by a target user.
In an optional implementation manner of the embodiment of the invention, the optional ship track information display device further comprises a checking module, which is used for checking the stability of M continuous track directions determined before the current moment at fixed time and storing the M continuous track directions passing the stability check at the initial stage of determining the track direction of the ship.
In an optional implementation manner of the embodiment of the invention, the optional ship track information display device further comprises an inspection module, which is used for carrying out data anomaly inspection on the new track direction according to the previous track direction when the new track direction is determined each time, and determining that the new track direction is valid data or anomalous data.
In an optional implementation manner of the embodiment of the present invention, optionally, the ship track information display device further includes a continuous compensation processing module, configured to, if it is determined that the new track direction is abnormal data, perform continuous compensation processing on the abnormal data according to the valid data determined before the current time.
The ship track information display device provided by the embodiment of the invention can execute the ship track information display method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Fig. 4 shows a schematic structural diagram of an electronic device 10 that may be used to implement the ship track information display method of an embodiment of the present invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, electronic devices, blade electronics, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including an input unit 16, such as a keyboard, mouse, etc., an output unit 17, such as various types of displays, speakers, etc., a storage unit 18, such as a magnetic disk, optical disk, etc., and a communication unit 19, such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the respective methods and processes described above, such as a ship track information display method.
In some embodiments, the ship track information display method may be implemented as a computer program, which is tangibly embodied on a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and/or installed onto the heterogeneous hardware accelerator via the ROM and/or the communication unit. When the computer program is loaded into RAM and executed by the processor, one or more steps of the ship track information display method described above may be performed. Alternatively, in other embodiments, the processor may be configured to perform the ship track information display method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be a special or general purpose programmable processor, operable to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or electronic device.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a heterogeneous hardware accelerator having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the heterogeneous hardware accelerator. Other kinds of devices may also be used to provide for interaction with a user, for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback), and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data electronic device), or that includes a middleware component (e.g., an application electronic device), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a Local Area Network (LAN), a Wide Area Network (WAN), a blockchain network, and the Internet.
The computing system may include a client and an electronic device. The client and the electronic device are generally remote from each other and typically interact through a communication network. The relationship of client and electronic devices arises by virtue of computer programs running on the respective computers and having a client-electronic device relationship to each other. The electronic equipment can be cloud electronic equipment, also called cloud computing electronic equipment or cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.