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随着全球经济的快速发展，海上运输由于其运力大、运费低而变得更具实用性。然而，这也意味着在海上航道行驶的船只正变得越来越多，这将导致在复杂的海洋环境中航海船只发生事故的可能性会很高。据相关历史的统计，在海域中航行缺乏高精度导航数据会导致大量事故，这种累积的事故信息可以被用来提高航海的安全性。本文通过将蕴含在AIS (Automatic Identification System) 大数据中的经验导航信息挖掘出来，以辅助实现复杂海事环境下安全可靠的船舶路径的生成。本文提出了一种基于大数据自动生成船舶路径的新方法。该方法首先在大量船舶轨迹上通过DBSCAN (Density-Based Spatial Clustering of Applications with Noise) 聚类形成不同的轨迹矢量簇。然后，迭代计算轨迹矢量簇的中心线，并从这些中心线之间的节点-弧段拓扑关系来构建航道网络。最后，基于航道网络来实现船舶路径的生成，对于航道网络未覆盖的海域，则通过海洋环境风险栅格的路径规划来实现船舶路径的生成。不同海域不同AIS数据集进行的多次实验结果表明，本文提出的船舶路径生成方法是有效性。 相似文献
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This paper presents a general approach for the development of a ship weather routing algorithm for determining optimal route which is taken here as the minimum-time route. The optimization model is based on a form of Dijkstra's algorithm. The developed algorithm is versatile and is capable of considering nearly all realistic practical constraints that a ship faces during her voyage. The ‘weight’ functions and the routes are determined by considering both involuntary and voluntary speed reduction. The algorithm is investigated using various realistic wave data for the North Indian Ocean region obtained from a 3rd generation WAM model. Illustrative examples of minimum-time sea routes on Arabian Sea and Bay-of-Bengal have been determined and presented to demonstrate the capability of the algorithm in handling many practical constraints within its framework. 相似文献
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An optimally planned route is the foundation of a safe and economical navigation. This article proposes a method for the shortest time routing based on the composite influence of multidynamic elements. First, an instantaneous model is constructed based on static depths from a chart and a grid tidal model in a sea area, then a collection of obstacle areas are acquired and the navigability of a route is analyzed. Second, a search is made for the shortest time path using a dynamic programming method. Finally, the path is further optimized by strategies that involve excluding obstacle areas outside the rectangular box of all computation nodes, searching close nodes in the next stage and deleting redundant nodes for a more direct navigable route. Experimental results demonstrate that: (1) the proposed method can analyze the navigability of the route dynamically and acquire the shortest time route; (2) the route acquired by the proposed method has a shorter time than those of traditional method based on static depths; and (3) the shortest route depends on the departure time and the ship's speed. 相似文献
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The ship routing problem can be known as a multi-objective problem. Since the operation strategy is influenced by ocean environments, e.g. wind, waves or ocean currents, it is therefore weather routed. In this study, the three-dimensional modified isochrone (3DMI) method utilizing the recursive forward technique and floating grid system for the ship tracks is applied to globally search for the optimum route. The proposed method considers two types of routing strategies, i.e. ETA (Estimated Time of Arrival) routing and FUEL (FUEL-saving) routing, with different constraints, such as land boundaries, significant wave heights, engine revolution speeds and roll responses. As a result, it is verified that the robustness of the proposed method appears to be a practical tool by adjusting the safety threshold for the trade-off of ship efficiency and economics. 相似文献
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In this study, we propose a fuzzy approach in order to evaluate the maritime risk assessment applied to safety at sea and more particularly, the pollution prevention on the open sea. The work is based on the decision-making system, named MARISA, presented in Balmat et al. (2009). This system allowed defining a risk factor for each ship according to ship’s characteristics and weather conditions. In this novel paper, the proposed system takes into account the ship speed evolution and the ship position with respect to maritime shipping lanes is developed. To validate the method, we present an example of results with real data. 相似文献
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An adaptive output feedback controller based on neural network feedback-feedforward compensator (NNFFC) which drives a surface ship at high speed to track a desired trajectory is designed. The tracking problem of the surface ship at low speed has been widely investigated. However, the coupling interactions among the forces from each degree of freedom (DOF) have not been considered in general. Furthermore, the influence of the hydrodynamic damping is also simplified into a linear form or neglected. On the contrary, coupling interactions and the nonlinear characteristics of the hydrodynamic damping can never be neglected in high speed maneuvering situation. For these reasons, the influence of the nonlinear hydrodynamic damping on the tracking precision is considered in this paper. Since the hydrodynamic coefficients of the surface ship at high speed are very difficult to be accurately estimated as a prior, it will be compensated by NNFFC as an unknown part of the tracking dynamics system. The stability analysis will be given by the Lyapunov theory. It indicates that the proposed control scheme can guarantee that all the signals in the closed-loop system are uniformly ultimately bounded (UUB), and numerical simulations can illustrate the excellent tracking performance of the surface ship at high speed under the proposed control scheme. 相似文献
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To the problem of the unknown underwater target detection, according to the feature that the underwater target radiated noise contains the stable line spectrum, a weighted method based on the main-to-side lobe ratio (MSLR) is proposed for broadband beam-forming. This weighted method can be implemented by using the following steps. Firstly, optimize the spatial spectrum of each frequency unit by the second-order cone programming (SOCP), and obtain the optimized spatial spectrum with lower side lobe. Secondly, construct weighting factors based on the MSLR of the optimized spatial spectrums to from weight factors. Lastly, cumulate the spatial spectrum of each frequency unit via the weight statistical method of this paper. This method can restrain the disturbance of background noise, enhance the output signal-to-noise ratio (SNR), and overcome the difficulty of traditional four-dimensional display. The theoretical analysis and simulation results both verify that this method can well enhance the spatial spectrum of line spectrum units, restrain the spatial spectrum of background noise units, and improve the performance of the broadband beam-forming. 相似文献
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GPU-Based DEM Simulations of Global Ice Resistance on Ship Hull During Navigation in Level Ice 总被引：1，自引：0，他引：1
The ice resistance on a ship hull affects the safety of the hull structure and the ship maneuvering performance in icecovered regions.In this paper,the discrete element method(DEM)is adopted to simulate the interaction between level ice and ship hull.The level ice is modeled with 3D bonded spherical elements considering the buoyancy and drag force of the water.The parallel bonding approach and the de-bonding criterion are adopted to model the freezing and breakage of level ice.The ship hull is constructed with rigid triangle elements.To improve computational efficiency,the GPU-based parallel computational algorithm was developed for the DEM simulations.During the interaction between the ship hull and level ice,the ice cover is broken into small blocks when the interparticle stress approaches the bonding strength.The global ice resistance on the hull is calculated through the contacts between ice elements and hull elements during the navigation process.The influences of the ice thickness and navigation speed on the dynamic ice force are analyzed considering the breakage mechanism of ice cover.The Lindqvist and Riska formulas for the determination of ice resistance on ship hull are employed to validate the DEM simulation.The comparison of results of DEM,Lindqvist,and Riska formula show that the DEM result is between those the Lindqvist formula and Riska formula.Therefore the proposed DEM is an effective approach to determine the ice resistance on the ship hull.This work can be aided in the hull structure design and the navigation operation in ice-covered fields. 相似文献
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在全球持续变暖的影响下,北极部分地区夏季出现无冰期,北极航线具有更短的航运距离和相对稳定的地缘政治人文环境。文章从气候变化角度出发,构建包含航行环境模块、航迹规划模块和航线经济效益模块在内的综合评估模型,评估北极地区海冰、风、浪、流等气象水文地理要素对船舶航速的影响,确定北极地区的可航行天数;在此基础上,利用A-Star算法寻找北极航线的最优路径,并分析该路径上的航运经济效益;采用该评估模型对比在RCP4.5情景下2050年船舶往返欧亚大陆之间经东北航线与经苏伊士运河航线的经济效益,结果表明,苏伊士运河航线的经济效益更高,北极航线可作为替补航线。 相似文献
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大洋性鱿鱼的洄游路径能够给我们重要的信息，帮助我们了解其时空分布的变化。标记-重捕和电子标记方法在施行过程中仍存在一些问题。头足类的硬组织，如角质颚，有着稳定的形态特征和类似耳石的连续生长纹，同时包含丰富的生态信息，可以为我们研究物种的时空分布提供相关信息。本研究中，我们以北太平洋柔鱼为研究对象，基于不同角质颚生长阶段进行取样来重建鱿鱼的洄游路径。研究结果认为，通过电感耦合等离子质谱仪（LA-ICP-MS）取样，发现角质颚的喙端矢状平面（RSS）检测到9种微量元素。针对上述几种元素，发现不同生长阶段的磷（P）、铜（Cu）和锌（Zn）存在显著差异。利用钠（Na）、磷和锌与海表面温度（SST）建立线性回归模型。基于贝叶斯模型，计算出不同时期柔鱼出现的较高概率的海域。结合不同时期的高概率分布海域，建立起柔鱼的洄游路径，该结果与前人研究结果一致。本研究也证实了角质颚可以为研究大洋性柔鱼的洄游路径提供有效的信息。 相似文献
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This study contributes to solving the problem of how to derive a simplistic model feasible for describing dynamics of different types of ships for maneuvering simulation employed to study maritime traffic and furthermore to provide ship models for simulation-based engineering test-beds. The problem is first addressed with the modification and simplification of a complicated and nonlinearly coupling vectorial representation in 6 degrees of freedom (DOF) to a 3 DOF model in a simple form for simultaneously capturing surge motions and steering motions based on several pieces of reasonable assumptions. The created simple dynamic model is aiming to be useful for different types of ships only with minor modifications on the experiment setup. Another issue concerning the proposed problem is the estimation of parameters in the model through a suitable technique, which is investigated by using the system identification in combination with full-scale ship trail tests, e.g., standard zigzag maneuvers. To improve the global optimization ability of support vector regression algorithm (SVR) based identification method, the artificial bee colony algorithm (ABC) presenting superior optimization performance with the advantage of few control parameters is used to optimize and assign the particular settings for structural parameters of SVR. Afterward, the simulation study on identifying a simplified dynamic model for a large container ship verifies the effectiveness of the optimized identification method at the same time inspires special considerations on further simplification of the initially simplified dynamic model. Finally, the further simplified dynamic model is validated through not only the simulation study on a container ship but also the experimental study on an unmanned surface vessel so-called I-Nav-II vessel. Either simulation study results or experimental study results demonstrate a valid model in a simple form for describing the dynamics of different types’ ships and also validate the performance of the proposed parameter estimation method. 相似文献
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Jinyun Guo Xin Liu Yongning Chen Jianbo Wang Chengming Li 《Marine Geophysical Researches》2014,35(2):141-148
Heights as the basic geographical information are very important to study marine geophysics, geodesy and oceanography. Based on the astronomical leveling principle, we put forward a new method to unify the normal height (NH) datum along one ship route across sea with the ship-borne gravimetry and global navigation satellite system (GNSS) techniques. Ship-borne gravimeter can precisely measure gravity anomalies and the GNSS technique is used to measure precise sea surface heights (SSHs) along the ship track across sea. Precisions of ship-borne gravities and SSHs are improved with the colinear adjustment. To remove the effects of sea wave and wind, the Gaussian filter is used to filter residuals both between the ship-borne and modeled gravities from EGM2008 to degree 2160, and the measured and modeled SSHs from DTM10MSS, respectively. Deflections of the vertical (DOVs) along the ship route are estimated from the measured gravities with the least squares collocation method. The astro-geodetic survey is made on continent and island to improve the accuracy of DOVs along the route. We use the new method to connect NHs on the coastal sea of Shandong Peninsula, China. The results indicate that the method is very efficient to precisely connect the NH along the ship route across sea. 相似文献
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This paper presents a potential based boundary element method for solving a nonlinear free surface flow problem for a ship moving with a uniform speed in finite depth of water. The free surface boundary condition is linearized by the systematic method of perturbation in terms of a small parameter up to third order. The surfaces are discretized into flat quadrilateral elements and the influence coefficients are calculated by Morino's analytical formula. Dawson's upstream finite difference operator is used in order to satisfy the radiation condition. The second order solution gives better result than the first or third order solution. So the present method with the second order solution can be adopted as a powerful tool for the hydrodynamic analysis of the thin ship in finite depth of water. 相似文献
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A synthetic aperture radar sea surface distribution estimation by n-order Bézier curve and its application in ship detection 总被引：1，自引：0，他引：1
To dates,most ship detection approaches for single-pol synthetic aperture radar(SAR) imagery try to ensure a constant false-alarm rate(CFAR).A high performance ship detector relies on two key components:an accurate estimation to a sea surface distribution and a fine designed CFAR algorithm.First,a novel nonparametric sea surface distribution estimation method is developed based on n-order Bézier curve.To estimate the sea surface distribution using n-order Bézier curve,an explicit analytical solution is derived based on a least square optimization,and the optimal selection also is presented to two essential parameters,the order n of Bézier curve and the number m of sample points.Next,to validate the ship detection performance of the estimated sea surface distribution,the estimated sea surface distribution by n-order Bézier curve is combined with a cell averaging CFAR(CA-CFAR).To eliminate the possible interfering ship targets in background window,an improved automatic censoring method is applied.Comprehensive experiments prove that in terms of sea surface estimation performance,the proposed method is as good as a traditional nonparametric Parzen window kernel method,and in most cases,outperforms two widely used parametric methods,K and G0 models.In terms of computation speed,a major advantage of the proposed estimation method is the time consuming only depended on the number m of sample points while independent of imagery size,which makes it can achieve a significant speed improvement to the Parzen window kernel method,and in some cases,it is even faster than two parametric methods.In terms of ship detection performance,the experiments show that the ship detector which constructed by the proposed sea surface distribution model and the given CA-CFAR algorithm has wide adaptability to different SAR sensors,resolutions and sea surface homogeneities and obtains a leading performance on the test dataset. 相似文献
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Conventional weather routing is defined as determining the optimum route for a merchant ship such that distance or duration of the voyage and fuel consumption are minimized. If the purpose of a voyage is offshore transfer, the term “optimum” includes aspects of operational safety such as towing tension and six-degree motion response of tow. This paper presents the development of a weather routing method for determining the optimal route, which is defined here as the route with minimum average towing tension with a restricted time of arrival and significant motion response. A genetic algorithm is applied to solve optimization problems. Optimized routes of this research have an advantage in towing tension and satisfy motion constraints. The result of this study can contribute to safe and effective planning for offshore transport. 相似文献
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A moving particle image velocimetry (PIV) system was successfully developed and used in a large towing tank for ship model tests to observe velocity fields near ship models. The experimental method involved adjustable optical devices for various test conditions and a special particle-seeding device. The streamwise and cross-streamwise flow fields of a yacht model and a tanker model were measured. Ship type, bottom shape, and towing speed were found to be the causes of problems affecting optical access and image quality. Possible solutions, deeper optical ducts, dark painting color, and pre-processed analysis method, were proposed and discussed. 相似文献