![](data:image/png;base64,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)
713
The signal of the set turning rate is determined
automaticallyonthebasisofthemeasuredvariables
of the state vector such as course, surge and sway
velocity, taking into account the parameters of a
specified maneuver which have been calculated in
ReferenceSignalBuilder(RSB).Theleadingsignalis
a
desired path that can be generated using a route
managementsystem.Thisroutecanbeperformedina
modeoffixedsetcourseorusingaline‐of‐sight(LOS)
guidance technique (McGookin & Murray‐Smith
2006).Certainpartsoftheroughlydesignedpathmay
beplannedentirelydifferently
afterenlargement.
Figure4.BlockschemaofReferenceSignalGenerator.
2.2.1 Pathgenerationusingstraight‐linesandcircular
arcs
Afterroughlyplanningaseavoyageitcanbeused
tochange, addorupdatein moredetail newnodes.
These adjustments may be introduced to regard to
changingweather conditionsforcollisionavoidance,
oroftheoccurrenceofdeviations fromthis
route or
simplybecause oftheneed toprovide detailsofthe
moreprecisemaneuvers.
Theoperatoronthebasisoftheelectronicmap,by
guidingthecursortothepoint,givesithigherpriority
among the points of representation of the planned
route. Such a point, in contrast to
the rough route
way‐points or 3D‐Decision Support System for
Navigators(Łebkowski,2015)shouldnotbeomitted.
Additionally,theoperatordefinesthewayofarriving
at the next set point and selects the algorithm to
determine the parameters of this maneuver. RSB on
the basis of the data uploaded
into the coordinate
system of way‐points pinned (i,x,y,f,s) (i‐point
number, x, y‐the coordinates in Cartesian
coordinates, f‐flag‐specifying the selected operating
mode, s‐ sagitta) and the measured signals such as
speed, the shipʹs course and previously declared
constantvalues
suchasa route ofovertakingwhich
can differ for different maneuvers calculates the
parametersoftheplannedmaneuvers.Ontheirbasis
the Ship Path Generator (SPG) displays a planned
routeon thebackgroundofthemap ofthisbody of
waterwhichallowstheoperatortoassessifthegiven
partoftheroutewasplannedwell.
The proposed system of ship control in the sea
journey is meant to operate in 4 working modes of
steering:
byaspecifiedfixedcourse
towardsaspecifiedpointalongthestraightline
towardsaspecifiedpointalongaspecifiedarc
along an arc with a limited turning radius with
embarkingontoaspecifiedcourse
One of above non mentioned working modes is
capableofensuringthe
movement oftheshipalong
an arc at a specified constant angular velocity. This
maneuver with its advantages, was presented in
(Kula2016).
The course‐keeping is usually situational in its
character and often stems from the spontaneous
pursuit of the visible object. However, if the ship
deviates from the
set route, for example due to the
impact of the sea current, and maintains a specified
course, then, before its correction comes into effect,
the distance to be covered by the ship will be
unnecessarily lengthened. Such a delay in the case
presentedabove,thecaseofdirectingtheshipto
the
next way‐point, can be avoided when the shipʹs
specified course towards the next way‐point will be
determinedonanongoingbasisasareferencecourse
refvaryingdependingonthepositionofthecenterof
gravityofthevesselinrelationtothenextway‐point.
Figure5.Cartesiancoordinatesystem.
Letusassumethatthecenterofgravityinafixed
coordinates system has the coordinates G(x,y,z) and
theoffsetfromthenextway‐pointisatthemomentt
in the meridian line
)()( txxtx
ii
and in the
parallel line
)()( tyyty
ii
. Then the reference
coursecanbedeterminedfromtherelationship:
180
( ) 180
i
ref
i
y
tarctgn
x
[deg] (1)
where:
x,y–coordinatesofthecenterofgravity oftheship
x
k+1 yk+1 – specified coordinates for the successive
turningpoint
–n=0ifx
i>0andyi>0,
–n=1ifx
i<0,
–n=2ifx
i>0andyi<0
The third of these operating modes, that is the
movementoftheshipinanarcwhichisa fragmentof
acircle,requiresamoredetaileddiscussion.Itcanbe
anelementoftheroughlyplannedrouteoftheship,
but it attains greater importance at the stage
of
refinement e.g. when planning the maneuver of
avoidingpermanentobstaclesoravoidingacollision
with other vessels (Lisowski & Lazarowska, 2013).
Preparation for its implementation requires
determinationof
the coordinates of the planned begin of the turn
wp
i(xi,yi)andtheendpointofthemaneuveratthe
exitfromanarc
thecourseangle
i+2onthenextstraight‐linesector
with wp
i+1 on wpi+2 according to (6),taking into
accountthatiincreasesby1