1. A fishery ship yaw early warning method is characterized by comprising the following steps:

acquiring image information of a target area, and preprocessing the image of the target area to obtain channel information of the target area;

the real-time position information of the ship is collected,

comparing the real-time position information of the ship with preset position information to obtain a deviation rate;

judging whether the deviation rate is larger than a preset deviation rate threshold value or not,

if the current time is more than the preset time, generating an early warning signal, correcting the ship navigation state through the early warning signal to obtain result information,

and transmitting the result information to the terminal according to a preset mode.

2. The fishery vessel yaw early warning method according to claim 1, wherein target area image information is collected, and the target area image is preprocessed to obtain target area channel information, and specifically the method comprises the following steps:

acquiring image information of a target area, extracting navigation mark points in the image,

analyzing the position of the navigation mark point, and judging the change rate of adjacent navigation mark points;

eliminating the navigation mark points with the navigation mark point change rate larger than the change rate threshold value to obtain effective navigation mark points;

and fitting all the effective navigation mark points to form the route information.

3. The fishery vessel yaw early warning method according to claim 1, wherein channel passing data of a target area is obtained through big data, and a channel density model is established;

automatically generating channel density data corresponding to the time nodes according to the channel density model,

establishing ship running parameter information according to the channel density data, establishing a position prediction model,

the ship navigates according to the driving parameter information and monitors the current node position information of the ship;

comparing the position information of the current node of the ship with preset information of the current node to obtain a first deviation rate;

predicting the position information of the next time node of the ship through a position prediction model;

comparing the position information of the next node of the ship with the preset information of the next node to obtain a second deviation rate;

judging whether the second deviation rate is larger than the first deviation rate or not;

if the number of the warning signals is larger than the preset value, the ship runs away from the air route, an early warning signal is generated, and reminding is carried out through the early warning signal.

4. The fishing vessel yaw early warning method of claim 3, further comprising:

acquiring current ship navigation parameters to obtain current ship running state information;

acquiring target area meteorological information, and calculating a safe distance between the edge of a ship driving according to current ship driving state information and a channel according to the target area meteorological information;

early warning grade division is carried out on the ship yaw according to the early warning signals,

when the safety distance is smaller than the preset distance, carrying out yaw early warning of a corresponding level;

and generating a corresponding yaw response strategy according to the yaw early warning grade.

5. The fishery ship yaw early warning method according to claim 4, wherein the ship navigation parameters comprise navigation speed, navigation acceleration, navigation time and navigation deflection angle;

the meteorological information comprises water flow speed, water flow direction, water surface wind power, water surface wind direction or water surface wind speed or water level variable quantity.

6. The fishery vessel yaw early warning method according to claim 4, wherein early warning grade division is performed on vessel yaw according to early warning signals, and the method specifically comprises the following steps:

acquiring the meteorological information variation of the target area,

comparing the meteorological information variation with a preset threshold value to obtain a deviation rate,

judging whether the deviation rate is larger than a first threshold value and smaller than a second threshold value,

if the first pre-warning signal is greater than the preset threshold value, generating a first pre-warning signal, and generating a first yaw response strategy through the first pre-warning signal;

determining whether the deviation ratio is greater than a second threshold,

if the first pre-warning signal is greater than the second pre-warning signal, generating a second yaw response strategy through the second pre-warning signal;

the first threshold is less than the second threshold.

7. The fishing vessel yaw early warning method of claim 6, further comprising: acquiring wind power information of a target area, and analyzing the navigation mark attitude through the wind power information to obtain standard attitude information under the current wind power;

acquiring the real-time attitude information of the navigation mark,

comparing the real-time attitude information of the navigation mark with the standard attitude information to obtain an attitude deviation rate;

judging whether the attitude deviation rate is greater than a preset attitude deviation rate threshold value or not;

if so, generating navigation mark state early warning information,

and correcting the navigation mark according to the navigation mark attitude early warning information.

8. A fishery vessel yaw early warning system, the system comprising: the device comprises a memory and a processor, wherein the memory comprises a fishery ship yaw early warning method program, and the fishery ship yaw early warning method program realizes the following steps when executed by the processor:

acquiring image information of a target area, and preprocessing the image of the target area to obtain channel information of the target area;

the real-time position information of the ship is collected,

comparing the real-time position information of the ship with preset position information to obtain a deviation rate;

judging whether the deviation rate is larger than a preset deviation rate threshold value or not,

if the current time is more than the preset time, generating an early warning signal, correcting the ship navigation state through the early warning signal to obtain result information,

and transmitting the result information to the terminal according to a preset mode.

9. The fishery vessel yaw early warning system according to claim 8, wherein channel passing data of a target area is obtained through big data, and a channel density model is established;

automatically generating channel density data corresponding to the time nodes according to the channel density model,

establishing ship running parameter information according to the channel density data, establishing a position prediction model,

the ship navigates according to the driving parameter information and monitors the current node position information of the ship;

comparing the position information of the current node of the ship with preset information of the current node to obtain a first deviation rate;

predicting the position information of the next time node of the ship through a position prediction model;

comparing the position information of the next node of the ship with the preset information of the next node to obtain a second deviation rate;

judging whether the second deviation rate is larger than the first deviation rate or not;

if the number of the warning signals is larger than the preset value, the ship runs away from the air route, an early warning signal is generated, and reminding is carried out through the early warning signal.

10. The fishery vessel yaw early warning system of claim 8, further comprising:

acquiring current ship navigation parameters to obtain current ship running state information;

acquiring target area meteorological information, and calculating a safe distance between the edge of a ship driving according to current ship driving state information and a channel according to the target area meteorological information;

early warning grade division is carried out on the ship yaw according to the early warning signals,

when the safety distance is smaller than the preset distance, carrying out yaw early warning of a corresponding level;

and generating a corresponding yaw response strategy according to the yaw early warning grade.

Background

A ship sailing at sea inevitably deviates from the intended course due to the influence of various disturbing factors, for which reason the ship relies heavily on the correction of the yawing system. However, the application chart in the existing yaw system is a ship which displays the same channel for going up and down, and has the disadvantages that the mode of each channel is not reflected in the process of passing through, meeting and the like of the ship under the same channel, the ship is easy to be confused, the using effect cannot meet the requirement, an accident can be caused if the ship is serious, the route refers to the water surface navigation route of the ship between two places, and the specific route of each navigation time is drawn up according to the navigation task, the situations of geography, astronomy, weather and the like of the navigation area and the ship condition. The number of routes between two places can be many, and in the running process of the ship and the navigation process of a driver, the driver can accurately run along the routes, so that the running efficiency of the ship is very important, and the ship can run safely in the navigation process. However, traffic conditions and meteorological states on the water surface, particularly on the sea surface, change thousands of times, and the traffic conditions and the meteorological states cannot be known in advance before driving, so that the air route can only be continuously corrected in the driving process.

In order to ensure that the ship normally runs, a system matched with the ship needs to be developed for control, the system can acquire image information of a target area, preprocess the image of the target area to obtain channel information of the target area, and compare real-time position information of the ship with preset position information to obtain a deviation rate; judging whether the deviation rate is greater than a preset deviation rate threshold value, if so, generating an early warning signal, correcting the ship navigation state through the early warning signal, and how to realize accurate control on the ship yaw early warning system.

Disclosure of Invention

The invention overcomes the defects of the prior art and provides a fishery ship yaw early warning system and method.

In order to achieve the purpose, the invention adopts the technical scheme that: a fishery vessel yaw early warning method comprises the following steps:

acquiring image information of a target area, and preprocessing the image of the target area to obtain channel information of the target area;

the real-time position information of the ship is collected,

comparing the real-time position information of the ship with preset position information to obtain a deviation rate;

judging whether the deviation rate is larger than a preset deviation rate threshold value or not,

if the current time is more than the preset time, generating an early warning signal, correcting the ship navigation state through the early warning signal to obtain result information,

and transmitting the result information to the terminal according to a preset mode.

In a preferred embodiment of the present invention, the acquiring of the image information of the target area, and the preprocessing of the image of the target area to obtain the channel information of the target area specifically include:

acquiring image information of a target area, extracting navigation mark points in the image,

analyzing the position of the navigation mark point, and judging the change rate of adjacent navigation mark points;

eliminating the navigation mark points with the navigation mark point change rate larger than the change rate threshold value to obtain effective navigation mark points;

and fitting all the effective navigation mark points to form the route information.

In a preferred embodiment of the invention, the channel passing data of the target area is obtained through big data, and a channel density model is established;

automatically generating channel density data corresponding to the time nodes according to the channel density model,

establishing ship running parameter information according to the channel density data, establishing a position prediction model,

the ship navigates according to the driving parameter information and monitors the current node position information of the ship;

comparing the position information of the current node of the ship with preset information of the current node to obtain a first deviation rate;

predicting the position information of the next time node of the ship through a position prediction model;

comparing the position information of the next node of the ship with the preset information of the next node to obtain a second deviation rate;

judging whether the second deviation rate is larger than the first deviation rate or not;

if the number of the warning signals is larger than the preset value, the ship runs away from the air route, an early warning signal is generated, and reminding is carried out through the early warning signal.

In a preferred embodiment of the present invention, the method further comprises:

acquiring current ship navigation parameters to obtain current ship running state information;

acquiring target area meteorological information, and calculating a safe distance between the edge of a ship driving according to current ship driving state information and a channel according to the target area meteorological information;

early warning grade division is carried out on the ship yaw according to the early warning signals,

when the safety distance is smaller than the preset distance, carrying out yaw early warning of a corresponding level;

and generating a corresponding yaw response strategy according to the yaw early warning grade.

In a preferred embodiment of the present invention, the vessel navigation parameters include navigation speed, course acceleration, navigation time, and navigation deflection angle;

the meteorological information comprises water flow speed, water flow direction, water surface wind power, water surface wind direction or water surface wind speed or water level variable quantity.

In a preferred embodiment of the present invention, the early warning grade division of the ship yaw according to the early warning signal specifically includes:

acquiring the meteorological information variation of the target area,

comparing the meteorological information variation with a preset threshold value to obtain a deviation rate,

judging whether the deviation rate is larger than a first threshold value and smaller than a second threshold value,

if the first pre-warning signal is greater than the preset threshold value, generating a first pre-warning signal, and generating a first yaw response strategy through the first pre-warning signal;

determining whether the deviation ratio is greater than a second threshold,

if the first pre-warning signal is greater than the second pre-warning signal, generating a second yaw response strategy through the second pre-warning signal;

the first threshold is less than the second threshold.

In a preferred embodiment of the present invention, the method further comprises: acquiring wind power information of a target area, and analyzing the navigation mark attitude through the wind power information to obtain standard attitude information under the current wind power;

acquiring the real-time attitude information of the navigation mark,

comparing the real-time attitude information of the navigation mark with the standard attitude information to obtain an attitude deviation rate;

judging whether the attitude deviation rate is greater than a preset attitude deviation rate threshold value or not;

if so, generating navigation mark state early warning information,

and correcting the navigation mark according to the navigation mark attitude early warning information.

The second aspect of the present invention also provides a yaw early warning system for a fishery vessel, the system comprising: the device comprises a memory and a processor, wherein the memory comprises a fishery ship yaw early warning method program, and the fishery ship yaw early warning method program realizes the following steps when executed by the processor:

acquiring image information of a target area, and preprocessing the image of the target area to obtain channel information of the target area;

the real-time position information of the ship is collected,

comparing the real-time position information of the ship with preset position information to obtain a deviation rate;

judging whether the deviation rate is larger than a preset deviation rate threshold value or not,

if the current time is more than the preset time, generating an early warning signal, correcting the ship navigation state through the early warning signal to obtain result information,

and transmitting the result information to the terminal according to a preset mode.

In a preferred embodiment of the invention, the channel passing data of the target area is obtained through big data, and a channel density model is established;

automatically generating channel density data corresponding to the time nodes according to the channel density model,

establishing ship running parameter information according to the channel density data, establishing a position prediction model,

the ship navigates according to the driving parameter information and monitors the current node position information of the ship;

comparing the position information of the current node of the ship with preset information of the current node to obtain a first deviation rate;

predicting the position information of the next time node of the ship through a position prediction model;

comparing the position information of the next node of the ship with the preset information of the next node to obtain a second deviation rate;

judging whether the second deviation rate is larger than the first deviation rate or not;

if the number of the warning signals is larger than the preset value, the ship runs away from the air route, an early warning signal is generated, and reminding is carried out through the early warning signal.

In a preferred embodiment of the present invention, the method further comprises:

acquiring current ship navigation parameters to obtain current ship running state information;

acquiring target area meteorological information, and calculating a safe distance between the edge of a ship driving according to current ship driving state information and a channel according to the target area meteorological information;

early warning grade division is carried out on the ship yaw according to the early warning signals,

when the safety distance is smaller than the preset distance, carrying out yaw early warning of a corresponding level;

and generating a corresponding yaw response strategy according to the yaw early warning grade.

The invention solves the defects in the background technology, and has the following beneficial effects:

(1) channel information is acquired through image acquisition, and meanwhile, the channel is corrected through meteorological information, so that the channel under severe weather still can be processed within a reasonable and controllable range, collision of a ship in the running process according to a preset route of the channel is avoided, and when wind power is large, the navigation mark posture is deviated, the navigation mark posture is adjusted, and the accuracy of the channel is guaranteed.

(2) The safe distance between the edge of the ship which runs according to the current ship running state information and the channel is calculated, when the ship deviates from the original channel, the distance change between the ship and the channel is monitored, when the distance is smaller than the safe distance, yaw early warning is carried out, early warning grade division is carried out according to the distance change, and a corresponding yaw response strategy is generated according to the yaw early warning grade.

(3) The method comprises the steps of obtaining channel passing data of a target area through big data, establishing a channel density model, automatically generating channel density data corresponding to time nodes according to the channel density model, judging the variation of deviation of a ship from a channel in the current time node and the next time node, and when the variation is larger than the preset variation, enabling the ship to be in a range of the ship to be about to enter a yaw range.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 shows a flow chart of a fishery vessel yaw early warning method of the present invention;

FIG. 2 illustrates a flow chart of a method of generating airline information of the present invention;

FIG. 3 is a flow chart illustrating a method for determining a deviation of a channel through a position prediction model according to the present invention;

FIG. 4 illustrates a flow chart of a yaw response strategy method of the present invention;

FIG. 5 illustrates a flow chart of an early warning ranking method of the present invention;

FIG. 6 shows a block diagram of a fishery vessel yaw early warning system of the present invention.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

FIG. 1 shows a flow chart of a fishery vessel yaw early warning method of the invention.

As shown in fig. 1, a first aspect of the present invention provides a fishery vessel yaw warning method, including:

s102, acquiring image information of a target area, and preprocessing the image of the target area to obtain channel information of the target area;

s104, collecting the real-time position information of the ship,

s106, comparing the real-time position information of the ship with preset position information to obtain a deviation rate;

s108, judging whether the deviation ratio is larger than a preset deviation ratio threshold value or not,

s110, if the current time is more than the preset time, generating an early warning signal, correcting the ship navigation state through the early warning signal to obtain result information,

and S112, transmitting the result information to the terminal according to a preset mode.

As shown in FIG. 2, the present invention discloses a flow chart of a method for generating airline information.

According to the embodiment of the invention, the information of the target area image is collected, the target area image is preprocessed, and the information of the target area channel is obtained, which specifically comprises the following steps:

s202, acquiring image information of a target area, extracting a navigation mark point in the image,

s204, analyzing the position of the navigation mark point, and judging the change rate of adjacent navigation mark points;

s206, eliminating the navigation mark points with the navigation mark point change rate larger than the change rate threshold value to obtain effective navigation mark points;

and S208, fitting all the effective navigation mark points to form the route information.

As shown in FIG. 3, the present invention discloses a flow chart of a method for determining a deviation of a navigation channel by a position prediction model.

According to the embodiment of the invention, the method further comprises the following steps:

s302, obtaining channel passing data of a target area through big data, and establishing a channel density model;

s304, automatically generating the channel density data corresponding to the time nodes according to the channel density model,

s306, establishing ship running parameter information according to the channel density data, establishing a position prediction model, and S308, navigating the ship according to the running parameter information, and monitoring the position information of the current node of the ship;

s310, comparing the position information of the current node of the ship with preset information of the current node to obtain a first deviation rate;

s312, predicting the position information of the next time node of the ship through a position prediction model;

s314, comparing the position information of the next node of the ship with the preset information of the next node to obtain a second deviation rate, and judging whether the second deviation rate is greater than the first deviation rate;

and S316, if the current time is greater than the preset time, the ship runs away from the air route, an early warning signal is generated, and reminding is carried out through the early warning signal.

It should be noted that the method includes the steps of obtaining channel passing data of a target area through big data, establishing a channel density model, automatically generating channel density data of corresponding time nodes according to the channel density model, judging the variation of deviation of a ship from a channel in a current time node and a next time node, and when the variation is larger than a preset variation, enabling the ship to be in a range of yaw to be entered, and therefore pre-judging of ship yaw can be achieved, intervention can be conducted in advance, and normal and safe operation of the ship can be achieved.

As shown in FIG. 4, the present invention discloses a yaw response strategy method flow chart.

According to the embodiment of the invention, the method further comprises the following steps:

s402, obtaining current ship navigation parameters to obtain current ship running state information;

s404, collecting meteorological information of a target area, and calculating a safe distance between the edge of the ship driving according to the current ship driving state information and a channel according to the meteorological information of the target area;

s406, early warning grade division is carried out on the ship yaw according to the early warning signals,

s408, when the safety distance is smaller than the preset distance, performing yaw early warning of a corresponding level;

and S410, generating a corresponding yaw response strategy according to the yaw early warning level.

It should be noted that, by calculating the safe distance between the edge of the ship and the channel, which is driven according to the current ship driving state information, when the ship deviates from the original channel, the distance change between the ship and the channel is monitored, when the distance is smaller than the safe distance, yaw early warning is performed, early warning grade division is performed according to the distance change, and a corresponding yaw response strategy is generated according to the yaw early warning grade.

According to the embodiment of the invention, the ship navigation parameters comprise navigation speed, course acceleration, navigation time and navigation deflection angle;

the meteorological information comprises water flow speed, water flow direction, water surface wind power, water surface wind direction or water surface wind speed or water level variable quantity.

As shown in fig. 5, the present invention discloses a flow chart of an early warning ranking method.

According to the embodiment of the invention, early warning grade division is carried out on the ship yaw according to the early warning signal, and the method specifically comprises the following steps:

s502, acquiring the meteorological information variation of the target area,

s504, comparing the meteorological information variation with a preset threshold value to obtain a deviation ratio,

s506, judging whether the deviation ratio is larger than a first threshold value and smaller than a second threshold value,

s508, if the signal is larger than the preset value, generating a first early warning signal, and generating a yaw first response strategy through the first early warning signal;

s510, judging whether the deviation rate is larger than a second threshold value,

s512, if the first pre-warning signal is larger than the second pre-warning signal, generating a second yaw response strategy through the second pre-warning signal;

the first threshold is less than the second threshold.

According to the embodiment of the invention, the method further comprises the following steps: acquiring wind power information of a target area, and analyzing the navigation mark attitude through the wind power information to obtain standard attitude information under the current wind power;

acquiring the real-time attitude information of the navigation mark,

comparing the real-time attitude information of the navigation mark with the standard attitude information to obtain an attitude deviation rate;

judging whether the attitude deviation rate is greater than a preset attitude deviation rate threshold value or not;

if so, generating navigation mark state early warning information,

and correcting the navigation mark according to the navigation mark attitude early warning information.

As shown in FIG. 6, the invention discloses a block diagram of a fishery vessel yaw early warning system.

The second aspect of the present invention also provides a yaw early warning system for a fishery vessel, the system comprising: the device comprises a memory and a processor, wherein the memory comprises a fishery ship yaw early warning method program, and the fishery ship yaw early warning method program realizes the following steps when being executed by the processor:

acquiring image information of a target area, and preprocessing the image of the target area to obtain channel information of the target area;

the real-time position information of the ship is collected,

comparing the real-time position information of the ship with preset position information to obtain a deviation rate;

judging whether the deviation rate is larger than a preset deviation rate threshold value or not,

if the current time is more than the preset time, generating an early warning signal, correcting the ship navigation state through the early warning signal to obtain result information,

and transmitting the result information to the terminal according to a preset mode.

According to the embodiment of the invention, the channel passing data of the target area is obtained through big data, and a channel density model is established;

automatically generating channel density data corresponding to the time nodes according to the channel density model,

establishing ship running parameter information according to the channel density data, establishing a position prediction model,

the ship navigates according to the driving parameter information and monitors the current node position information of the ship;

comparing the position information of the current node of the ship with preset information of the current node to obtain a first deviation rate;

predicting the position information of the next time node of the ship through a position prediction model;

comparing the position information of the next node of the ship with the preset information of the next node to obtain a second deviation rate;

judging whether the second deviation rate is larger than the first deviation rate or not;

if the number of the warning signals is larger than the preset value, the ship runs away from the air route, an early warning signal is generated, and reminding is carried out through the early warning signal.

According to the embodiment of the invention, the method further comprises the following steps:

acquiring current ship navigation parameters to obtain current ship running state information;

acquiring target area meteorological information, and calculating a safe distance between the edge of a ship driving according to current ship driving state information and a channel according to the target area meteorological information;

early warning grade division is carried out on the ship yaw according to the early warning signals,

when the safety distance is smaller than the preset distance, carrying out yaw early warning of a corresponding level;

and generating a corresponding yaw response strategy according to the yaw early warning grade.

It should be noted that, by calculating the safe distance between the edge of the ship and the channel, which is driven according to the current ship driving state information, when the ship deviates from the original channel, the distance change between the ship and the channel is monitored, when the distance is smaller than the safe distance, yaw early warning is performed, early warning grade division is performed according to the distance change, and a corresponding yaw response strategy is generated according to the yaw early warning grade.

According to the embodiment of the invention, the information of the target area image is collected, the target area image is preprocessed, and the information of the target area channel is obtained, which specifically comprises the following steps:

acquiring image information of a target area, extracting navigation mark points in the image,

analyzing the position of the navigation mark point, and judging the change rate of adjacent navigation mark points;

eliminating the navigation mark points with the navigation mark point change rate larger than the change rate threshold value to obtain effective navigation mark points;

and fitting all the effective navigation mark points to form the route information.

According to the embodiment of the invention, the ship navigation parameters comprise navigation speed, course acceleration, navigation time and navigation deflection angle;

the meteorological information comprises water flow speed, water flow direction, water surface wind power, water surface wind direction or water surface wind speed or water level variable quantity.

According to the embodiment of the invention, early warning grade division is carried out on the ship yaw according to the early warning signal, and the method specifically comprises the following steps:

acquiring the meteorological information variation of the target area,

comparing the meteorological information variation with a preset threshold value to obtain a deviation rate,

judging whether the deviation rate is larger than a first threshold value and smaller than a second threshold value,

if the first pre-warning signal is greater than the preset threshold value, generating a first pre-warning signal, and generating a first yaw response strategy through the first pre-warning signal;

determining whether the deviation ratio is larger than a second threshold value,

if the first pre-warning signal is greater than the second pre-warning signal, generating a second yaw response strategy through the second pre-warning signal;

the first threshold is less than the second threshold.

It should be noted that, in the course of ship navigation, the motion information of the moving ship is calculated by the output torque of the main engine, and the motion equation of the ship isWherein T represents the torque sent by the ship main engine and is determined by the characteristics of the ship main engine, T represents the movement time, lambda represents the time delay from the fuel injection into the cylinder to the combustion work in the ship main engine, p represents the torque consumed by shafting friction, q represents the actual counter torque of water resistance to the propeller, j represents the average rotational inertia of the ship, and eta represents the load rotational inertia.

According to the embodiment of the invention, the method further comprises the following steps: acquiring wind power information of a target area, and analyzing the navigation mark attitude through the wind power information to obtain standard attitude information under the current wind power;

acquiring the real-time attitude information of the navigation mark,

comparing the real-time attitude information of the navigation mark with the standard attitude information to obtain an attitude deviation rate;

judging whether the attitude deviation rate is greater than a preset attitude deviation rate threshold value or not;

if so, generating navigation mark state early warning information,

and correcting the navigation mark according to the navigation mark attitude early warning information.

Channel information is acquired through image acquisition, and meanwhile, the channel is corrected through meteorological information, so that the channel under severe weather still can be processed within a reasonable and controllable range, collision of a ship in the running process according to a preset route of the channel is avoided, and when wind power is large, the navigation mark posture is deviated, the navigation mark posture is adjusted, and the accuracy of the channel is guaranteed.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of a unit is only one logical function division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.