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Method and apparatus for control of vessel maneuvering

  • US 5,969,665 A
  • Filed: 01/04/1999
  • Issued: 10/19/1999
  • Est. Priority Date: 01/04/1999
  • Status: Expired due to Term
First Claim
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1. A method for a control of a vessel maneuvering, including the steps of:

  • processing of initial signals, containing an information about a distance and bearing of at least one or each of a plurality of target objects, a vessel speed, a vessel course and about a speed and a course of said at least one or said each of said plurality of target objects;

    forming a signals, containing an information about borders of at least one or each of a plurality of dangerous relative course zones for said vessel with regard to an appropriate said at least one or said each of said plurality of target objects, wherein said borders are characterized by a vessel maximal speed value arc and lines, determining by parameters;

    i=1, 2, 3, . . . , m, . . . , n representing an ordinal number of each target object,j=0, 1, 2, . . . , k, . . . , l representing an ordinal moment of the time, considering the discrete time process of the target object observation by a radar scanning,g=1, 2, . . . , h, . . . , p representing an ordinal number of the parameter,π

    =3.14 . . . ,Dij representing a distance between the vessel and the i-th target object at the j-th moment of the time,Bij representing a bearing of the i-th target object at the j-th moment of the time,RCR representing a radius of a critical approach distance circle,Ψ

    igj representing a g-th angle of North for an appropriate g-th bordering line of said lines for the i-th target object at the j-th moment of the time, using the equation;

    
    
    space="preserve" listing-type="equation">Ψ

    .sub.ig.sup.j =(B.sub.i.sup.j -π

    /2)±

    arccos(R.sub.CR /D.sub.i.sup.j);

    processing said signals, containing said information about said borders of said at least one or said each of said plurality of dangerous relative course zones for said vessel with regard to said appropriate at least one or said each of said plurality of target objects;

    forming a processed signals, containing an information about said at least one or said each of said plurality of dangerous relative course zones;

    displaying said at least one or said each of said plurality of dangerous relative course zones.

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