移动VTS目标数学模型的建立与变换
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摘要
VTS(Vessel Traffic System,船舶交通服务系统)在增进船舶的交通安全和效率及保护环境等方面都发挥着重要作用。目前我国投资建成的VTS，并未实现对重要水域的全面覆盖,为更好地发挥VTS效能,扩展其管辖范围,本文引入了移动VTS的概念——在VTS无法管辖的重要水域,设置移动的交管船舶,经由交管船舶上的ARPA(Automatic Radar Plotting Aids,自动雷达标绘仪)获得目标船舶相对于交管船舶的航行信息,继而将所获信息进行转换,得到目标船舶之间的相对航行信息。并据此进行目标船舶碰撞危险度的判断,对可能会遇的目标船舶进行及时预警,使移动VTS发挥岸基VTS的辅助功能。
本文首先建立了移动VTS的坐标系统,进行了目标船舶数学模型的建立与转换,在得到目标船舶间相对航行信息的基础上,对影响船舶间碰撞危险度的因素进行了系统的分析。分别以CPA和TCPA为主要判断依据,建立了空间碰撞危险度和时间碰撞危险度的模型,并较合理地确定了两种危险度的合成算子,最终建立了多因素的移动VTS动态碰撞危险度模型。
其次,考虑到会遇船舶间对避碰局面的认识不一致,是导致船舶间避碰行动不协调乃至碰撞的重要原因之一,本文在确定了目标船舶间可能存在碰撞危险的条件下,对船舶的会遇态势进行了分析与定量的划分。这种划分应用于移动VTS系统,将有助于会遇船舶对船舶会遇态势的判断,协调船舶间的避碰行动。
电子海图ETN系统是一个航海信息系统,可进行航线设计、航迹监测及航行报警等。移动VTS系统的仿真实现以ETN系统为依托,通过读取外部ARPA数据,一方面将目标船舶显示于海图区中,另一方面进行移动VTS目标数学模型的建立与转换,将危险船舶的报警信息显示于工作区中。这就满足了移动VTS系统对交通图像及告警信息进行同步查看的需求。
VTS plays an important part in the enhancement of traffic safety and efficiency of ships, and in environmental protection. So far, the built and invested VTS in our country still havn't covered all the vital water area. To better play the function of VTS and broaden the compass of competency, the essay introduced the concept of Mobile VTS. Let the mobile traffic control ship work in the vital water area that VTS cannot control, convert the relative navigation information of the targets obtained by ARPA of the mobile ship, and draw the relative navigation information among the targets. Then accordingly judge the collision risks among the targets, and give the alarms to the possibly encountered ships. Mobile VTS means to perform the auxiliary function of shore-based VTS.
The essay firstly establishes the coordinate system of Mobile VTS to build the mathematical model and convert navigation information of the target ships, and analyses the factors which affect the collision risks on the base of the obtained relative navigation information among the targets. With the CPA and TCPA as the main judgment basis, builds the space and time collision risk models, and reasonably determines the synthesis between the two models to build the dynamic collision risk model of Mobile VTS which takes into account of multi-factors.
And then, considering the navigators'cognitions of the encountered situation do not always coincide, and that is one of the main reasons of the incompatible actions and even the collisions, the essay analyses and divides the encountered situations of the ships on the condition if they are made sure to crash. Applying the division in Mobile VTS will help the navigators judge the encountered situation and coordinate avoidance actions.
Electronic chart ETN system is a navigation information system, it can design route, monitor wake, and send out alarms etc. The simulation of Mobile VTS relays on ETN system, by reading external ARPA data, on one hand display the targets on electronic chart, and on the other hand build the mathematical model and convert the navigation information of Mobile VTS showing the alarms information of the dangerous ships on the working area. This satisfies Mobile VTS's demand of checking traffic image and alarm information synchronously.
本文首先建立了移动VTS的坐标系统,进行了目标船舶数学模型的建立与转换,在得到目标船舶间相对航行信息的基础上,对影响船舶间碰撞危险度的因素进行了系统的分析。分别以CPA和TCPA为主要判断依据,建立了空间碰撞危险度和时间碰撞危险度的模型,并较合理地确定了两种危险度的合成算子,最终建立了多因素的移动VTS动态碰撞危险度模型。
其次,考虑到会遇船舶间对避碰局面的认识不一致,是导致船舶间避碰行动不协调乃至碰撞的重要原因之一,本文在确定了目标船舶间可能存在碰撞危险的条件下,对船舶的会遇态势进行了分析与定量的划分。这种划分应用于移动VTS系统,将有助于会遇船舶对船舶会遇态势的判断,协调船舶间的避碰行动。
电子海图ETN系统是一个航海信息系统,可进行航线设计、航迹监测及航行报警等。移动VTS系统的仿真实现以ETN系统为依托,通过读取外部ARPA数据,一方面将目标船舶显示于海图区中,另一方面进行移动VTS目标数学模型的建立与转换,将危险船舶的报警信息显示于工作区中。这就满足了移动VTS系统对交通图像及告警信息进行同步查看的需求。
VTS plays an important part in the enhancement of traffic safety and efficiency of ships, and in environmental protection. So far, the built and invested VTS in our country still havn't covered all the vital water area. To better play the function of VTS and broaden the compass of competency, the essay introduced the concept of Mobile VTS. Let the mobile traffic control ship work in the vital water area that VTS cannot control, convert the relative navigation information of the targets obtained by ARPA of the mobile ship, and draw the relative navigation information among the targets. Then accordingly judge the collision risks among the targets, and give the alarms to the possibly encountered ships. Mobile VTS means to perform the auxiliary function of shore-based VTS.
The essay firstly establishes the coordinate system of Mobile VTS to build the mathematical model and convert navigation information of the target ships, and analyses the factors which affect the collision risks on the base of the obtained relative navigation information among the targets. With the CPA and TCPA as the main judgment basis, builds the space and time collision risk models, and reasonably determines the synthesis between the two models to build the dynamic collision risk model of Mobile VTS which takes into account of multi-factors.
And then, considering the navigators'cognitions of the encountered situation do not always coincide, and that is one of the main reasons of the incompatible actions and even the collisions, the essay analyses and divides the encountered situations of the ships on the condition if they are made sure to crash. Applying the division in Mobile VTS will help the navigators judge the encountered situation and coordinate avoidance actions.
Electronic chart ETN system is a navigation information system, it can design route, monitor wake, and send out alarms etc. The simulation of Mobile VTS relays on ETN system, by reading external ARPA data, on one hand display the targets on electronic chart, and on the other hand build the mathematical model and convert the navigation information of Mobile VTS showing the alarms information of the dangerous ships on the working area. This satisfies Mobile VTS's demand of checking traffic image and alarm information synchronously.
引文
[1]IMO. A.578(14). Guidelines for Vessel Service.IMO,1985.
[2]张行涛.VTS在我国海事管理中的效用和地位.中国水运,2010,(08)：48-49.
[3]IMO. SOLAS Chapter Ⅴ-Safety of Navigation. IMO,1974.
[4]朱加高,陈建华.VTS的效用及中国VTS管理现状.大连海事大学学报.2008，(06)：30-33.
[5]交通部.中华人民共和国船舶交通管理系统安全监督管理规则.中华人民共和国交通部令1997年第8号.
[6]周江华,刘桂云,方飚雄.宁波港船舶交通管理系统(VTS).宁波大学学报(理工版).2002,(01)：21-23.
[7]中国国际海运网.操作指南.浅析VTS.
[8]孙文力,孙文强.船载自动识别系统.大连：大连海事大学出版社,2004.
[9]GB/T 9391-1988船用雷达技术要求和使用要求测试方法和要求的测试结果.
[10]王世远,缪德刚.航海雷达与ARPA(第5版).大连：大连海事出版社,2005.
[11]史云剑.雷达盲区对VTS雷达站选址的影响.1994-2010 China Academic Journal Electronic Publishing House.
[12]吴建华.自动雷达标绘仪(ARPA).武汉：武汉理工出版社,2009.
[13]毕修颖.船舶碰撞危险度及避碰决策模型的研究：(硕士学位论文).大连：大连海事大学,2000.
[14]司玉琢,吴兆麟.船舶碰撞法.大连：大连海运学院出版社,1993.
[15]赵劲松,宋淑华.船舶驾驶员主观碰撞危险度的测定.大连海运学院学报.1990,(02)：29-31.
[16]郑中义,吴兆麟.船舶碰撞危险度的新模型.大连海事大学学报,2002,28(02)：1-3.
[17]C. M.Goodwin. A Statistical Study of ship Domains. Journal of Navigation 1975, Vol.28,328
[18]严庆新.船舶避碰的定量研究.武汉交通科技大学学报,1997,21(06)：688-695.
[19]范少勇.影响船舶碰撞危险度的因素.天津航海,2006,(01)：18-21.
[20]Merrill I. Skolnik. Radar Handbook (Second Edition). Beijing:Publishing House of Electronics Industry,2003.
[21]丁鹭飞,耿富录.雷达原理.西安：西安电子科技大学出版社,2006.
[22]吴建华,牟学东.移动VTS的原理及实现方法.航海技术,2008,(03)：36-38.
[23]刘勇.航海学(天文)教学中的几点探索.海船进江与航行安全保障论文集,2003.
[24]高玉德,赵怀森,寇连坡.航海学.大连：大连海事大学出版社,1998.
[25]Richard Hakluyt, Jack Beeching. Voyages and Discoveries:Principal Navigations, Voyages, Traffiques & Discoveries of the English Nat. Penguin Classics,1972.
[26]丁桂波.大圆航法与大椭圆航法的航程计算误差.天津航海,1996,(03)：3-4.
[27]GB/T 11711-2002船用自动雷达标绘仪(ARPA)——性能要求、测试方法和要求的测试结果.
[28]章杨,金坤,王焕章.船舶碰撞危险度模型优化.广州航海高等专科学校学报,2007,15(01)：8-10.
[29]Wu Zaolin.Quantification of Action to Avoid Collision. The Journal of Navigation, Vol,37.
[30]Kazumi Genge. Drivers'hazard and risk perception, confidence in safe driving, and choice of speed. IIASS Reserch,1998,22:103-110.
[31]毕修颖,贾传荧,谷春国.最小安全会遇距离和注意会遇距离的确定.大连海事大学学报,2001,27(01)：24-26.
[32]Andrzej S.Lenart. ARPA Accuracy Testing. Journal of Navigation,1989, 42:117-123.
[33]Andrzej S. Lenart. Distance and Speed Errors in ARPA System. Journal of Navigation,2005,58:77-82.
[34]黎法明,胡甚平.船舶最近会遇距离值与避让行动幅度的估算.上海海运学院学报,2001,22(02)：29-31.
[35]孙文强.船舶值班与避碰.大连：大连海事大学出版社,2008.
[36]中华人民共和国海事局组织翻译.1972年国际海上避碰规则.北京：人民交通出版社.
[37]IMO. International Regulation for Preventing Collisions at Sea,1972(COLREGS).
[38]C. M. Goodwim. A Statistical Study of ship Domains. Royal Institute of Navigation, 1975,28:328-344.
[39]P. V. Davis, M. J. Dove,C. T. Stockel.A Computer Simulation of Maritime Traffic Using Domains and Arenas. Journal of Navigation,1980,33:215-222.
[40]郭志新.船舶领域边界的量化分析.武汉造船中国航海学会内河船舶驾驶委员会论文集,2001年增刊：63-64.
[41]赵劲松,王逢辰.确定避碰时机的模型.大连海运学院学报,1989,15(03)：1-6.
[42]Y. Fujii, K. Tanaka. Traffic capacity. Journal of Navigation,1971,24(03):543.
[43]Sun Licheng. The Model of Close Quarter Situation. Proceedings of 96's ANTI-COLLISION.
[44]刘绍满,王宁,吴兆麟.船舶领域研究综述.大连海事大学学报,2011,37(02)：51-54.
[45]郑中义.船舶自动避碰决策系统的研究：(硕士学位论文).大连：大连海事大学,2000.
[46]赵劲松.船舶驾驶员主观碰撞危险度测度.大连海运学院学报,1990,16(01)：29-31.
[47]郑中义,吴兆麟.船舶避碰行动的统计和分析.中国航海学会海运船舶驾驶委员会论文集,1995-1997：94-97.
[48]孙立成.船舶避碰决策数学模型的研究：(硕士学位论文).大连：大连海事大学,2000.
[49]付玉慧.谈船舶对遇局面.航海技术,1994,(05)：28.
[50]陈进涛.论海上两船在对遇局面在的避碰.交通科技,2002,(03)：54-55.
[51]熊振南.试论《1972年国际海上避碰规则》之“追越”条款.世界海运,2000,(03)：6-7.
[52]徐建红,苏开文.船舶会遇态势的判断.航海技术,2007,(01)：2-5.
[53]司玉琢,吴兆麟.船舶碰撞法.大连：大连海运学院出版社,1991.
[54]F. P.Coenen, G. P. Sneaton, A. G. Bole. Knowledge-based collision avoidance. Journal of Navigation,1980,42(01):107-116.
[55]IEC.IEC 62288. Maritime navigation and radiocommunication equipment and systems-presentation of navigation-ralated information on shipborne navigation display-General requirements, methods of testing and required test results. IEC,2008.
[56]IHO. Specification for chart content and display aspects of ECDIS (Edition 6.0).IHO,2010.
[57]电子海图系统(ECS)功能、性能和测试要求(暂行).
[58]中华人民共和国.IALAIAPHIMPA世界VTS指南-成山角,1992.
[2]张行涛.VTS在我国海事管理中的效用和地位.中国水运,2010,(08)：48-49.
[3]IMO. SOLAS Chapter Ⅴ-Safety of Navigation. IMO,1974.
[4]朱加高,陈建华.VTS的效用及中国VTS管理现状.大连海事大学学报.2008，(06)：30-33.
[5]交通部.中华人民共和国船舶交通管理系统安全监督管理规则.中华人民共和国交通部令1997年第8号.
[6]周江华,刘桂云,方飚雄.宁波港船舶交通管理系统(VTS).宁波大学学报(理工版).2002,(01)：21-23.
[7]中国国际海运网.操作指南.浅析VTS.
[8]孙文力,孙文强.船载自动识别系统.大连：大连海事大学出版社,2004.
[9]GB/T 9391-1988船用雷达技术要求和使用要求测试方法和要求的测试结果.
[10]王世远,缪德刚.航海雷达与ARPA(第5版).大连：大连海事出版社,2005.
[11]史云剑.雷达盲区对VTS雷达站选址的影响.1994-2010 China Academic Journal Electronic Publishing House.
[12]吴建华.自动雷达标绘仪(ARPA).武汉：武汉理工出版社,2009.
[13]毕修颖.船舶碰撞危险度及避碰决策模型的研究：(硕士学位论文).大连：大连海事大学,2000.
[14]司玉琢,吴兆麟.船舶碰撞法.大连：大连海运学院出版社,1993.
[15]赵劲松,宋淑华.船舶驾驶员主观碰撞危险度的测定.大连海运学院学报.1990,(02)：29-31.
[16]郑中义,吴兆麟.船舶碰撞危险度的新模型.大连海事大学学报,2002,28(02)：1-3.
[17]C. M.Goodwin. A Statistical Study of ship Domains. Journal of Navigation 1975, Vol.28,328
[18]严庆新.船舶避碰的定量研究.武汉交通科技大学学报,1997,21(06)：688-695.
[19]范少勇.影响船舶碰撞危险度的因素.天津航海,2006,(01)：18-21.
[20]Merrill I. Skolnik. Radar Handbook (Second Edition). Beijing:Publishing House of Electronics Industry,2003.
[21]丁鹭飞,耿富录.雷达原理.西安：西安电子科技大学出版社,2006.
[22]吴建华,牟学东.移动VTS的原理及实现方法.航海技术,2008,(03)：36-38.
[23]刘勇.航海学(天文)教学中的几点探索.海船进江与航行安全保障论文集,2003.
[24]高玉德,赵怀森,寇连坡.航海学.大连：大连海事大学出版社,1998.
[25]Richard Hakluyt, Jack Beeching. Voyages and Discoveries:Principal Navigations, Voyages, Traffiques & Discoveries of the English Nat. Penguin Classics,1972.
[26]丁桂波.大圆航法与大椭圆航法的航程计算误差.天津航海,1996,(03)：3-4.
[27]GB/T 11711-2002船用自动雷达标绘仪(ARPA)——性能要求、测试方法和要求的测试结果.
[28]章杨,金坤,王焕章.船舶碰撞危险度模型优化.广州航海高等专科学校学报,2007,15(01)：8-10.
[29]Wu Zaolin.Quantification of Action to Avoid Collision. The Journal of Navigation, Vol,37.
[30]Kazumi Genge. Drivers'hazard and risk perception, confidence in safe driving, and choice of speed. IIASS Reserch,1998,22:103-110.
[31]毕修颖,贾传荧,谷春国.最小安全会遇距离和注意会遇距离的确定.大连海事大学学报,2001,27(01)：24-26.
[32]Andrzej S.Lenart. ARPA Accuracy Testing. Journal of Navigation,1989, 42:117-123.
[33]Andrzej S. Lenart. Distance and Speed Errors in ARPA System. Journal of Navigation,2005,58:77-82.
[34]黎法明,胡甚平.船舶最近会遇距离值与避让行动幅度的估算.上海海运学院学报,2001,22(02)：29-31.
[35]孙文强.船舶值班与避碰.大连：大连海事大学出版社,2008.
[36]中华人民共和国海事局组织翻译.1972年国际海上避碰规则.北京：人民交通出版社.
[37]IMO. International Regulation for Preventing Collisions at Sea,1972(COLREGS).
[38]C. M. Goodwim. A Statistical Study of ship Domains. Royal Institute of Navigation, 1975,28:328-344.
[39]P. V. Davis, M. J. Dove,C. T. Stockel.A Computer Simulation of Maritime Traffic Using Domains and Arenas. Journal of Navigation,1980,33:215-222.
[40]郭志新.船舶领域边界的量化分析.武汉造船中国航海学会内河船舶驾驶委员会论文集,2001年增刊：63-64.
[41]赵劲松,王逢辰.确定避碰时机的模型.大连海运学院学报,1989,15(03)：1-6.
[42]Y. Fujii, K. Tanaka. Traffic capacity. Journal of Navigation,1971,24(03):543.
[43]Sun Licheng. The Model of Close Quarter Situation. Proceedings of 96's ANTI-COLLISION.
[44]刘绍满,王宁,吴兆麟.船舶领域研究综述.大连海事大学学报,2011,37(02)：51-54.
[45]郑中义.船舶自动避碰决策系统的研究：(硕士学位论文).大连：大连海事大学,2000.
[46]赵劲松.船舶驾驶员主观碰撞危险度测度.大连海运学院学报,1990,16(01)：29-31.
[47]郑中义,吴兆麟.船舶避碰行动的统计和分析.中国航海学会海运船舶驾驶委员会论文集,1995-1997：94-97.
[48]孙立成.船舶避碰决策数学模型的研究：(硕士学位论文).大连：大连海事大学,2000.
[49]付玉慧.谈船舶对遇局面.航海技术,1994,(05)：28.
[50]陈进涛.论海上两船在对遇局面在的避碰.交通科技,2002,(03)：54-55.
[51]熊振南.试论《1972年国际海上避碰规则》之“追越”条款.世界海运,2000,(03)：6-7.
[52]徐建红,苏开文.船舶会遇态势的判断.航海技术,2007,(01)：2-5.
[53]司玉琢,吴兆麟.船舶碰撞法.大连：大连海运学院出版社,1991.
[54]F. P.Coenen, G. P. Sneaton, A. G. Bole. Knowledge-based collision avoidance. Journal of Navigation,1980,42(01):107-116.
[55]IEC.IEC 62288. Maritime navigation and radiocommunication equipment and systems-presentation of navigation-ralated information on shipborne navigation display-General requirements, methods of testing and required test results. IEC,2008.
[56]IHO. Specification for chart content and display aspects of ECDIS (Edition 6.0).IHO,2010.
[57]电子海图系统(ECS)功能、性能和测试要求(暂行).
[58]中华人民共和国.IALAIAPHIMPA世界VTS指南-成山角,1992.