The invention discloses a dangerous ship-wave coupling avoidance route planning method based on a reachable set, and the method comprises a dangerous navigation state recognition method based on a ship-wave coupling effect, i.e., the inherent frequency of a ship is estimated through the basic parameters of the ship, the encounter frequency of the ship and a wave field is analyzed according to the navigation state of the ship and the information of the nearby wave field, and the ship-wave coupling avoidance route planning method based on the ship-wave coupling effect is obtained. Further determining a dangerous sailing state according to the proportional relation; dangerous sailing state avoidance decision based on sailing safety specifications, namely, an optimal operation mode for departing from a dangerous sailing state is calculated according to a plurality of operation processes recommended by international maritime organization safety specifications (MSC.1/Circ.1228) and control motion characteristics of a ship; according to the homeward voyage route planning method based on reachable set calculation, when a ship is out of a dangerous sailing state and deviates from an original global route, a reachable set calculation tool is started to calculate the time optimal route of the ship returning to the original global route under the condition that the ship does not enter the dangerous sailing state again.
本发明公开出了一种基于可达集的危险船‑波耦合规避航迹规划方法,包括:基于船‑波耦合作用的危险航行状态识别方法,即通过本船基本参数预估本船固有频率、根据本船航行状态及附近波浪场信息分析本船与波浪场的遭遇频率,并进一步根据比例关系确定危险航行状态;基于航行安全规范的危险航行状态避让决策,即根据国际海事组织安全规范(MSC.1/Circ.1228)推荐的若干操作流程及本船的操纵运动特性计算脱离危险航行状态的最优操作方式;基于可达集计算的回航航迹规划方法,即在脱离危险航行状态且本船偏离原有全局航线时,启动可达集计算工具计算本船在不重新进入危险航行状态下回归原有全局航线的时间最优航迹。
Dangerous ship-wave coupling avoidance route planning method based on reachable set
一种基于可达集的危险船-波耦合规避航迹规划方法
04.04.2025
Patent
Elektronische Ressource
Chinesisch
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