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任课教师：赵琳,船舶导航定位系统Marine Navigation & Positioning Systems,第一部分 导航系统概述第二部分 经典导航系统第三部分 卫星导航系统第四部分 惯性导航系统第五部分 组合导航系统,课程内容Agenda,第一部分 导航系统概述Introduction to Navigation,1 什么是导航What is Navigation ？,Latin：navigareNavis shipAgere to direct, conduct Navigation the process of safely and efficiently directing the movements of a vessel from one place to another.,一、导航（Navigation）的概念,Commerce and conquestperhaps the two greatest drivers of human civilizationhave always depended on accurate navigation.,二、导航的历史 Brief History of Navigation,导航的历史 Brief History,- The history of human navigation goes back thousands of years. - The first seafarers kept in sight of land; that was the first trick of navigation; Typically, ancient mariner remained close to shore and used geographic landmarks to guide thema technique known as piloting.,导航的历史 Brief History,But what if land were nowhere nearby? The Phoenicians looked to the heavens.The sun moving across the commonly cloudless Mediterranean sky gave them their direction and quarter. The quarters we know today as east and west the Phoenicians knew as Asu (sunrise) and Ereb (sunset), labels that live today in the names Asia and Europe. At night, they steered by the stars.- The Greeks and Phoenicians made great strides in navigation and developed techniques that remained in use for thousands of years. Pole star Bonfires along shorelines at key locations Migratory seabirds,导航的历史 Brief History,Also a Simplified dead reckoning was used by Mediterranean mariners; The ships speed was determined by watching seaweed or driftwood, travel time by an hourglass, and heading by guesswork and institution, until around 1100 AD, when the Chinese created the first magnetized needle compass.,hourglass,Chip log,导航的历史 Brief History,The greatest advance in navigation came with the compass. The Chinese apparently knew about the powers of magnetism as early as the third millennium B.C., when, historians tell us, one army defeated another by using a device known as a point-south carriage. (The Chinese chose to have the arrow point south rather than north.)The first mention of the compass in the West comes from the Englishman Alexander Neckham, who wrote in 1187 that sailors use a magnetic needle which swings on a point and shows the direction of the north when the weather is overcast.,astrolabe made in Lisbon by J. de Goes in 1608, now in the Museum, Italy,12th and 13th centuries brought several navigational advances to Europe nautical charts celestial almanacs astrolabe astro means star and labe means to find. cross-staff,Cross staff,导航的历史 Brief History,Portolan Charts (c. 13th Century),Before leaving homeport, the navigator would tie a knot in the cord so that, by holding it in his teeth, he could sight Polaris along the top of the transom and the horizon along the bottom.,- The Arabs used a simple device called a kamal to make the observation,Mariners brass quadrant. The quadrant shown here is a replica of the type Columbus might have used on his voyages to the New World.,- Explorer tries any way to find the latitude of their position. Quadrant was developed around the turn of the 17th century.,导航的历史 Brief History,Finding latitude with the Pole Star and noontime Sun,导航的历史 Brief History,The angle of the pole star above the horizon equals the local latitude,Position of the noon Sun at the winter solstice, = a - e = a - 23.5,Position of the noon Sun at the summer solstice, = a + e = a + 23.5,- Subsequent advances in optics led to the invention of the sextant in 1731.,Around 1730, an English mathematician, John Hadley (16821744), and an American inventor, Thomas Godfrey (17041749), independently invented the sextant.,导航的历史 Brief History,导航的历史 Brief History,England established a Board of Longitude in 1714 and offered 20,000 pounds sterling to whoever could resolve it. John Harrison trumped them all by building a chronometer in 1764 that lost less than one second per day during long sea voyages.,- Still, while latitude measurement improved, longitude measurement remained out of reach.,John Harrison1693-1776,导航的历史 Brief History,In 1779, British naval officer and explorer Captain James Cook used Harrisons chronometer to circumnavigate the globe. When he returned, his calculations of longitude based on the chronometer proved correct to within 13 kilometers (8 miles).,James Cook, British Navigator and Explorer (17281779),South-Pacific RoutesThe first voyage is shown in red, second voyage in green, and third voyage in blue.,导航的历史 Brief History,In 1884, at the height of the British Empire, Greenwich, England, was established as the worlds Prime Meridian.After a period of relative quiescence, the 20th century brought an unprecedented wave of navigational advances.,Guglielmo Marconi 1874-1937,Marconi watching associates raise kite antenna at St. Johns, December, 1901,First flight, December 17, 1903. Photo by John T. Daniels,Orville Wright1871-1948,Wilbur Wright1867-1912,导航的历史 Brief History,In 1907 American Elmer Sperry introduced the gyroscopic compass which is unaffected by variation or deviation as it points to true north, not magnetic north. By the 1920s, the development of radio navigation was underway. In 1935, British physicist Robert Watson-Watt produced the first practical radar system；By 1939, a chain of working radar stations was in place along the south and east coasts of England.Inertial Guidance System was equipped by German Army in V-2 Rocket.The hyperbolic navigation system known as Loran was developed in the U.S. between 1940 and 1943. GPS，initiated in 1973, operated and maintained by the U.S. Department of Defense， was established in 1994.,导航的历史 Brief History,But the story is far from over. As civilization reaches farther into spacewhere terms such as horizontal and vertical hold little meaningnew navigational techniques will be required. As space vessels venture out beyond the reaches of the inner solar system, they will encounter new navigational challenges.,当代导航一般需提供：位置（经度Longitude、纬度Latitude、 高度Altitude）速度（东向、北向速度；纵向、横向速度） Velocity & Speed?航向（Heading）姿态（Attitude: Roll, Pitch, Yaw）时间（Time）水深（Water Depth）潜深（Depth of Submarine）,定位、制导、领港有何区别？Positioning means to determine location;Guidance means to conduct a vehicle, usually unmanned, to arrive the destination by means of control techniques based on navigation;Piloting involves navigating in restricted waters with frequent determination of position relative to geographic and hydrographic features;,Navigation Department Administrative Organization,Navigation Department Operational Organization,The Bridge Team,Officer of the Deck (OOD)Conning OfficerQuartermaster of the Watch (QMOW)Boatswains Mate of the Watch (BMOW)LookoutsHelmsman,BearingTaker,BearingTaker,Plotter,Bearing Recorder,Navigator,OOD,ConningOfficer,Bridge,CIC,PilotingOfficer,Plotter,Chart Table,RadarOperator,CO,Chart Table,Bridge (Piloting)NavigatorPlotterBearing TakerBrg Recorder,CIC (RadNav)Piloting OfficerRadar OperatorPlotter,三、导航的分类（Types Of Navigation）,Commonly recognized types of navigations are listed below.1. 推算船位（推算舰位、推算航法） Dead reckoning (DR)2. 天文导航 Celestial navigation 3. 地文导航（陆标定位） Terrestrial navigation4. 无线电导航 Radio navigation 5. 雷达导航 Radar navigation 6. 卫星导航 Satellite navigation7. 惯性导航 Inertial Navigation 8. 组合导航（综合导航） Integrated Navigation 9. 气象导航 Meteorological navigation,三、导航的分类（Types Of Navigation）,Dead reckoning (DR) also called Deduced Reckoning, is a technique to determine a ships approximate position by applying to the last established charted position and a vector or series of vectors representing true courses and speed. This means that if we have an earlier fix, we plot from that position our course and distance traveled since then and deduce our current position.Celestial navigation involves reducing celestial measurements to lines of position using tables, spherical trigonometry, and almanacs. It is used primarily as a backup to satellite and other electronic systems in the open ocean.,三、导航的分类（Types Of Navigation）,3. Terrestrial navigation fixes the vehicles position by landmarks or charted NAVAIDS. Fixed by Two Bearing Lines Three Bearing Lines Two Ranges Three Ranges Fixed by Bearing and Range Fixed by Running Fix Bearing 和 Heading 的差别？4. Radio navigation uses radio waves to determine position by either radio direction finding systems or hyperbolic systems.,三、导航的分类（Types Of Navigation）,Radar navigation uses radar (radio detecting and ranging) to determine the distance from or bearing of objects whose position is known. This process is separate from radars use as a collision avoidance system. (ARPA：Automatic Radar Plotting Aids)Satellite navigation uses artificial earth satellites for determination of position, such as GPS, GLONASS, Galileo and Beidou。Inertial Navigation is a totally self-contained navigation system providing vehicles position in response to inertial effects on system components. Gimbled INS (Platform INS) Strapdown INS,三、导航的分类（Types Of Navigation）,Integrated Navigation is a combination of two or more than two methods or equipment of navigation to get more accurate position, attitude and speed fixing. Integrated Bridge System (IBS) is a typical integrated navigation system that takes inputs from various ship sensors, electronically display positioning information, and provide control signals required to maintain a vessel on a preset course.Meteorological navigation,Four distinct phases define the navigation process. The mariner should choose the system mix that meets the accuracy requirements of each phase.Inland Waterway Phase: Piloting in narrow canals, channels, rivers, and estuaries. Harbor /Harbor Approach Phase: Navigating to a harbor entrance and piloting in harbor approach channels.Coastal Phase：Navigating within 50 miles of the coast or inshore of the 200 meter depth contour.Ocean Phase: Navigating outside the coastal area in the open sea.,四、 Phases Of Navigation,五、地球（The Earth）,一、地球（The Earth）,For navigational purposes, its considered a “true” sphere with a circumference of 40,200 km,Earth: A “not-so-perfect” Sphere,Terrestrial Coordinate System,Earth - The Earth is a spheroid, but for navigational purposes, it is considered a perfect sphere with a circumference of 21, 600 n m.On a sphere at rest, any point on the surface is similar to any other point; so reference points must be designated in order to make measurements on the spheres surface.When rotation is introduced, two reference points are defined - the points at which the spin axis pierces the surface of the sphere. On the Earth, these points are called the north and south poles. The axis of the Earth, together with its poles, constitutes the basic references on which the terrestrial coordinate system is based.Great circle - The intersection of a plane passing through two points on the surface of the earth and the center of the earth. The resulting circle is the largest circle that can be drawn on the surface of the earth.The resulting line on the surface of the earth represents the shortest distance between the two points.,Great Circle,Meridian,Plane Great Circle,Terrestrial Coordinate System,Equator - The great circle formed by passing a plane perpendicular to the earths axis halfway between its poles . The equator divides the earth into northern and southern hemispheres and is of major importance because it is one of the two great circles from which all locations on the earths surface are referenced.Small circle - Any circle not passing through the center of a sphere .,Small Circle,Terrestrial Coordinate System,Meridian - Any great circle formed by passing a plane through the center of the earth at right angles to the equator.Prime Meridian - The meridian that passes through the original position of the Royal Greenwich Observatory near London, England. The prime meridian constitutes the second reference line for the terrestrial coordinate system. All other meridians are referenced to the prime meridian; it divides the earth into the eastern and western hemispheres.All meridians lie in a true north/south direction and are bisected by the earths axis. The half of a meridian extending from the north to south pole on the same side of the earth as an observer is called the upper branch. The other half, on