论文总字数：22763字

摘 要

本文从船舶智能导航的概念出发，基于风险和效率两个角度对船舶导航智能化进行初步探究，对于风险导航领域，本文利用人-船-环境风险博弈模型对船舶航行过程中的风险进行分析，形成风险因子量化表，并对航行中的风险等级进行划分；其次利用层次分析法和脆性理论建立具体的数学模型与脆性传播模型对航道内各因素的相对重要性进行权重排序，建立起舶智能导航系统脆性结构模型。对于效率导航领域，本文结合实际案例，运用交通波理论分析船舶排队长度和排队时间，基于通航时空影响模型，对智能导航下的船舶通航效率进行分析，运用前景理论对二者进行综合论述，结果表明船舶智能化导航能有效实现船舶区域及航道内的自主化控制，进行智能化航路选择。其次基于网格化并考虑船舶尺度对船舶智能导航避碰问题进行研究，挖掘船舶在时间和空间上的碰撞规律，利用虚拟力合成法分析物标下TCPA与DCPA间的关系，根据分析结果进行分析，得出船舶运动轨迹簇，满足智能避碰下的航路选择。在考虑风险和效率的综合影响作用下，从整体架构、平台结构与技术流程等方面进行分析，依托互联网、大数据等对传统导航设备进行改进，形成数据资源共享平台，进行数据的储存、分析与处理，并通过终端子系统进行显示，构建出船舶导航智能化系统结构框架。

研究表明：船舶智能导航系统能有效的实现船舶导航数据化与自主化，能够更有效的评价船舶风险等级与风险状况，进行自动风险预警，并自主优化航路选择，能够保证船舶航行安全，避免航行碰撞事故，在未来船舶智能化发展上具有重要地位。

关键词：智能风险导航；效率导航；智能避碰导航；智能导航系统架构

Abstract

Starting from the concept of ship intelligent navigation, this paper makes a preliminary study on the intelligent navigation based on risk and efficiency. In the field of risk navigation, this paper analyzes the risk in the process of ship navigation by using the game of human ship environment risk, forms the risk factor quantification table, and divides the risk level in the navigation by using the analytic hierarchy process and embrittlement Based on the theory of sex, a specific mathematical model and a brittle propagation model are established to rank the relative importance of each factor in the channel, and a brittle structure model of the ship intelligent navigation system is established. In the field of efficiency navigation, this paper analyzes the length and time of ships' queuing by using the traffic wave theory and the efficiency of ships' navigation under the intelligent navigation. Based on the influence model of navigation time and space, this paper comprehensively discusses the two by using the prospect theory. The results show that the intelligent navigation of ships can effectively realize the autonomous control of ships' areas and channels Intelligent route selection. Secondly, based on the grid and considering the ship scale, this paper studies the problem of ship intelligent navigation and collision avoidance, excavates the collision rules of ship in time and space, analyzes the relationship between TcpA and DCPA under the object mark by using the virtual force synthesis method, and analyzes the results based on the analysis, obtains the ship movement path cluster to meet the route selection under intelligent collision avoidance. Considering the comprehensive impact of risk and efficiency, the traditional navigation equipment is improved by relying on the Internet and big data based on the analysis of the overall architecture, platform structure and technical process, forming a data resource sharing platform for data storage, analysis and processing, and displaying through the terminal subsystem. The structure framework of intelligent navigation system is constructed.

The research shows that the ship intelligent navigation system can effectively realize the data and autonomy of the ship navigation, can more effectively evaluate the risk level and risk status of the ship, carry out automatic risk early warning, and independently optimize the route selection, can ensure the safety of the ship navigation, avoid the navigation collision accident, and has an important position in the future development of the ship intelligent.

Key words: Intelligent risk navigation; Efficiency navigation; Intelligent collision avoidance navigation; Intelligent navigation system architecture

目 录

第一章 绪论 1

1.1研究背景 1

1.2研究目的及意义 1

1.3国内外现状 2

1.4研究内容 3

1.5研究方法 4

1.6预期目标 4

第二章 智能船舶导航概述 5

2.1基于风险的智能导航 5

2.1.1基于区域船舶智能导航 5

2.1.2基于航道内自主导航 7

2.2基于效率的智能导航 9

2.3基于风险和效率的智能导航 11

2.4船舶智能避碰导航 12

2.4.1基于网格化船舶避碰导航决策 12

2.4.2基于船舶尺度的避碰导航决策 15

第三章 智能导航系统结构框架 16

3.1整体架构 16

3.2平台结构 17

3.3技术流程 17

第四章 总结与展望 19

4.1结论与展望 19

4.2不足之处与改进办法 19

参考文献 21

致谢 23

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