56results about How to "Ensure safe navigation" patented technology

The invention relates to a marine intelligent navigation monitoring system which is provided with a main frame with a display, a wireless communicating device, a GPS receiver, a communication navigation module, a geographic information system module and an auxiliary system module with intelligent decision function; the marine intelligent navigation monitoring system adopts MapX as the supporting platform of a digital nautical chart, obtains the digital nautical chart by the geographic information system module and carries out wireless data receiving and transmitting by the communication navigation module; the auxiliary system module realizes the effective references for the safe running of a ship, the real time monitoring on the ship-shore communication and the automatic updating of the digital nautical chart. The auxiliary system module includes six management modules of driving monitoring, nautical chart management, nautical chart operation, ship collision avoidance, shallowness passing of the ship, departure and in port of the ship as well as four basic databases of the nautical chart information, the port channel information, the basic information of the ship and a course. The invention can also be provided with a depth sounder used for detecting the depth of water. The invention adopts the MapX as the supporting platform of the digital nautical chart, to realize the networking dynamic management on the course, a flight point, a flight path, and the like, thus leading a manager to intuitively carry out immediate dispatching on the ship and improving the efficiency for shipping management.

The invention provides a ship short-circuit fault diagnosis method based on improved GA-PSO-BP which comprises the following steps: S1, acquiring a three-phase voltage signal when a ship power system is short-circuited, and establishing a training data set and a test data set; S2, establishing a three-layer BP neural network model; S3, establishing a particle swarm representing the BP neural network model; s4, endowing the BP neural network model with the particle position, inputting the training data set into the BP neural network to carry out ship short-circuit fault diagnosis, obtaining a diagnosis result, calculating an error value of the diagnosis result, when the error value is greater than or equal to gmax and the number of iterations does not reach gmax, adding 1 to the number of iterations, entering S5, otherwise, ending iteration, and entering S7; s5, updating the particle speed and the particle position; s6, performing cross mutation on particle positions, and updating the particles into particles of the next generation; repeating the steps S4-S6; s7, using the global optimal value of the particle swarm as an optimal particle to endow the BP neural network model; and S8, inputting the test data set into the BP neural network model, and diagnosing the ship short-circuit fault.

The invention relates to a double-body small-water plane hydrofoil combined high speed ship, belonging to ship engineering technical field, comprising: bottom main bodies of left and right piece bodies, posts, connection bridge, front and rear water wings and front and rear water wing posts, the bottom main bodies are connected with the connection bridge through the posts, and simultaneously the front and rear water wings are arranged front and rear between the bottom main bodies, respectively, the front and rear water wings are respectively provided with the front and rear water wing posts to connect with the connection bridge. The invention depends on the lift force of the water wings bears to bear part of hydrostatic floating force, able to correspondingly reduce drainage volume of the bottom bodies and wet surface area, rising wave resistance and frictional resistance, and thus raising the speed, and the invention can normally and safely sail at high speed.

The invention provides an unmanned water vehicle. The unmanned water vehicle comprises a control unit which is arranged in a control cabinet of the vehicle and is used for setting and assigning task operation according to a remote order and sending a sailing control signal to a power system of the vehicle for safe unmanned driving according to the remote order or automatically. The control unit further comprises a communication module, a sailing control module and a posture adjustment module. The communication module is configured to be used for communicating with a manipulation center so as to receive the remote order or return the current sailing state and sailing conditions of the vehicle to the manipulation center. The sailing control module is configured to make a route plan according to the remote order and generate sailing control signals in real time under the plan so as to make the vehicle reach the destination. The posture adjustment module is configured to adjust the static posture during task performing according to detected current posture information of the vehicle.

The invention discloses a WSN (wireless sensor network) based fire monitoring system for a ship bridge, which comprises a ship host computer system, an on-site monitoring subsystem, a fire warning information display terminal and a ship-borne gateway, wherein the fire information display terminal is connected with the ship host computer system, and the ship host computer system is connected with the ship-borne gateway; the ship-borne gateway is connected with the on-site monitoring subsystem, and the on-site monitoring subsystem comprises a communication equipment monitoring area, a navigation equipment monitoring area, a meteorological equipment monitoring area, a distress alarm equipment monitoring area and a chart room monitoring area; and each monitoring area is connected with corresponding ship-borne wireless sensor equipment. The WSN based fire monitoring system utilizes wireless sensor nodes to monitor the temperature and smoke within the target area, gases generated by combustion of bridge equipment and other fire indicator information in real time, and periodically packages and sends monitoring data to the host computer monitoring system to ensure the safety of navigation of a ship.

The invention discloses a method for inverting sea wave parameters by using a single shipborne X-band radar image, which comprises the following steps: selecting an inversion area, acquiring a grayscale image by using an X-band radar, and selecting an area 1 and an area 2 with the same distance and different azimuth angles; respectively interpolating the gray values of the radar images in the area1 and the area 2 into a rectangular coordinate system, performing Fourier transform to obtain a wave number spectrum of the area 1 and a wave number spectrum of the area 2, finding out peak values and corresponding wave number components of the wave number spectrums of the area 1 and the area 2, and solving peak value wave numbers and peak value wave directions of the area 1 and the area 2; solving a peak wave number and a peak wave direction according to the wave number spectrums of the area 1 and the area 2; judging and eliminating direction ambiguity of the peak wave direction; selecting the direction in the vicinity of the direction of the main wave, integrating the gray value, and solving related sea wave parameters. According to the method, the change of the sea wave parameters canbe obtained in real time by collecting the grayscale image in real time and extracting the related parameters for calculation and analysis.

The invention discloses a ship navigation guidance system, which comprises a ship sailing guidance expert knowledge library, a leg information input module, a leg information query module and a user management module. The ship sailing guidance expert knowledge library is used for storing a beginning address and an ending address, distance (kilometer), channel conditions, navigation obstruction conditions, an up navigation sailing method, a down navigation sailing method, navigation notice, sailing method audio promotion, audio information encoded by leg picture information as well as text message and leg picture information which are obtained according to expert knowledge; and the ship sailing guidance expert knowledge library is respectively connected with the leg information input module, the leg information query module and the user management module. Crew can use the system to retrieve and query the information of the channel where the ship navigates and the current situation of the channel is displayed. The crew can intuitively master river basin conditions around the ship to ensure the safe navigation of the ship and reduce the occurrence of ship accidents. The system can be suitable to be popularized in ship sailing guidance widely.

The invention discloses a method for drawing a novel navigation chart of a ship navigation guidance system, which comprises the following steps of: a, layering information, comprising a point object layer, a recommended route layer and a text layer, wherein the three layers are all provided with ID fields for encoding all objects, and the point object layer is further provided with national standard fields; b, loading national standard codes; and c, making character symbols and legend symbols. Crew can effectively obtain navigation channel information through the novel navigation chart drawn by the method for drawing the novel navigation chart of the ship navigation guidance system, and retrieve and query the navigation channel information, and the information, such as the general topographic features of the channel, channel conditions, navigation obstruction conditions, navigation notice, reference navigation method and the like, is displayed. The safe navigation of the ship is ensured, the occurrence of ship accidents is reduced, the harm to personal safety is decreased, and the economic loss is reduced. Therefore, the development of navigation industry is quickened. The method is suitable to be popularized in ship sailing guidance widely.

The invention discloses a ship wandering detection method based on AIS data, and the method can achieve the detection of the wandering behaviors of a ship according to the obtained AIS track data of the ship and the massive track data, classifies the wandering behaviors of the ship, and summarizes the relation between the tracks of four types of typical abnormal motion behaviors of the ship and adefined variable. According to the relationship between the ship motion trail characteristics and the statistical parameters, analysis is performed and the abnormal wandering behavior of the ship is detected according to the trail distribution condition in the grid. After the ship AIS track is filtered and smoothened, a global space-time grid index is established, gridding processing is conductedon the ship track, ship abnormal motion is detected according to ship abnormal behavior track characteristics, and abnormal classification alarming is conducted on ship motion behavior track abnormity. The ship wandering behavior detection can provide decision support for marine safety supervision, enhances marine traffic safety, ensures safe sailing of the ship, and has important significance forpromoting marine transportation to be safe, efficient and smooth.

The invention provides a device for measuring the gravity center of a waterborne carrier in a motion state. The device is characterized by being provided with four or more GNSS signal receiving devices, a posture sensor device and a CPU data recording and processing device, wherein the GNSS signal receiving devices are used for receiving a GNSS satellite signal in real time, and calculating the geographic coordinates of an observing point; two of the GNSS signal receiving devices are arranged in the heading direction of the waterborne carrier; the posture sensor device is used for acquiring the posture values of rolling, pitching and heaving of the waterborne carrier in real time; and the CPU data recording and processing device is connected with each GNSS signal receiving device and the posture sensor, and used for recording the observing value of each device in real time, and processing the observation values to obtain the coordinates of the gravity center of the waterborne carrier under a waterborne carrier coordinate system. Through adoption of the device and method for measuring the gravity center of the waterborne carrier, the gravity center position of the waterborne carriercan be obtained accurately in real time specific to the problems of irrationality and inaccuracy of an existing waterborne carrier gravity center determining method.

The invention provides a voice navigation system on water. The system comprises a comprehensive calculation module as well as an alarm prompt module, a route planning module, a display unit and an interaction unit which are respectively connected with the comprehensive calculation module; guided navigation on the Yangtze River and water is performed by the system, a front direction, surrounding ship positions and distances from the ship are timely prompted through voice, the directions and distances of front navigation elements are broadcast through the voice, a route is planned in advance, the navigation elements in the route are examined, the problem that prompt cannot be performed by voice in real time is solved during sailing on water at present, and both hands of a seaman are freed toensure safe navigation.

The invention discloses an LED fishing lamp fishing boat control system. According to the system, a computer-aided control mode is used, an MCU is used as a data processing center, and a touch screen is a control platform system for man-machine communication. The system comprises the following six sub-systems and is used for controlling the six sub-systems, including an LED fishing lamp direct-current power supply integrated control system, an LED fishing lamp telescopic rack control system, an LED fishing lamp cooling heat exchange control system, a fishing boat electric power supply control system, a fishery water area status monitor system and a fishing net deploying and retracting control system. The system can be used for carrying out high-efficiency multi-sea-state fishery fishing control for single-lamp high power and single-boat multi-lamp of the LED fishing lamp, and is especially suitable for the field of pelagic light trapping fishing with flexible manpower and automatic requirement.

The invention discloses an anti-freezing method suitable for a polar sailing ship. The anti-freezing method is characterized in that the anti-freezing manner for pipelines is a mixed composition manner formed by combining adjoining-pipe anti-freezing structure heating, heat preservation materials, a residue discharging method and a gas drying method; the anti-freezing manner for mechanical compartments and liquid tanks is a mixed composition manner formed by combining steam heating, electric heating, electric heaters and the heat preservation materials; the anti-freezing manner for equipment is a mixed composition manner formed by combining heating and enclosed protection; the anti-freezing manner for channels is formed by the electric heating and the enclosed protection or a mixed combination of the electric heating and the enclosed protection. The method disclosed by the invention has the advantages that on the consideration of pipeline systems, the mechanical compartments, the liquid tanks, the equipment and the channels and the like, various important systems and equipment of the polar sailing ship are effectively guaranteed to normally operate in severe environments, such as low air temperature, low water temperature and the like, and functions of various compartments and channels are not influenced, therefore the polar sailing ship is guaranteed to safely sail in cold sea areas.

The invention discloses a method and a system for detecting the number of operators on duty in a ship cab based on WiFi. The method comprises the following steps: 1) acquiring a wireless signal representing an environment state to obtain an original state signal; 2) analyzing the original data signal to obtain a CSI signal; 3) preprocessing the CSI signal, and screening out subcarriers with relatively high sensitivity to environmental perception; 4) performing frequency domain and time domain feature extraction on the preprocessed CSI signal to obtain a CSI feature signal; 5) extracting continuous CSI signals in a sliding window W, analyzing time domain and frequency domain information of the continuous CSI signals, and calculating statistical characteristics of different personnel numbers under the information; and 6) carrying out classification and identification on the calculated personnel quantity statistical characteristics by using a support vector machine algorithm, and identifying the quantity of operators on duty in the ship cab. According to the invention, the number of operators on duty in the ship cab can be effectively detected.

The invention discloses a marine vibration damping paddle shaft, belonging to the field of vibration damping and noise reduction. The damping paddle shaft includes a forward paddle shaft directly connected to the main engine or gearbox of the ship, a first damping mechanism, a middle paddle shaft, a second damping mechanism, and a terminal paddle shaft. Firstly, the traditional single propeller shaft is separated into three sections, the middle length of the shaft is the main part of the total length of the shaft, the forepart propeller shaft is directly connected with the main engine or gearbox of the ship, The terminal shaft is connected with the propeller or the steering conversion device, and the middle shaft is connected with the other two shafts through the vibration damping device,that is, the vibration source is isolated, the vibration is absorbed, the vibration of the main engine and the gear box of the ship and the vibration of the propeller are restrained and transmitted tothe middle section of the propeller shaft, and the shafting vibration and the hull vibration are reduced. Sixteen shock absorbers in the damping mechanism transmit shaft torque through springs, and absorb vibration through the joint action of springs and damping fluid, so as to suppress vibration transmission to the middle section of the shaft, which occupies the main part of the shaft length, thereby reducing the vibration response of the shaft system and the ship hull.

The invention discloses an overlapping display system for an electronic chart and a radar echo. The overlapping display system comprises an electronic chart display module, an electronic chart conversion module, an electronic chart service module, an electronic chart control interface module and an electronic chart data processing module. The electronic chart display module, the electronic chart conversion module, the electronic chart control interface module and the electronic chart data processing module are respectively in both-way connection with the electronic chart service module. The electronic chart service module is a central processing mechanism for the other modules. The electronic chart conversion module is responsible for converting S57 chart data into customized SENC chart data. The electronic chart control interface module provides an electronic chart control interface and is communicated with the other modules by operating the electronic chart control interface. According to the overlapping display system for the electronic chart and the radar echo, the navigation safety is effectively improved, the target-discriminating capacity of a naval vessel during navigation or search task execution is strengthened, and the forceful guarantee can be visually provided for the naval vessel navigation through the overlapping display of the electronic chart and the radar echo.

A semi-automatic control system for ship navigation lights belongs to the technical field of marine lighting equipment, and includes semaphores, a CPU (Central Processing Unit), an indicator lamp and a control panel, wherein a group of indicator lamp buttons are arranged on the control panel, and used for being connected with CPU signals to control the corresponding semaphores; the CUP is connected with a first output shift register and a second output shift register; the first output shift register is in parallel connection with the semaphores via a separate power supply circuit module; the power supply circuit module is further connected with a power detection module; the power detection module is connected with the CPU; and the second output shift registers and the indicator lamp are connected in parallel. During work, even any navigation signal semaphore can not work owing to malfunction, the system can automatically switch to a corresponding standby lamp to ensure the safe navigation of the ship, and the reliability of the system is improved.

The invention provides a judgment method of a safety boundary of a hovercraft. The method comprises the steps that on the basis of a Lyapunov stability theory and real hovercraft handling characteristics, judgment conditions of the stable state of the hovercraft are provided; then, according to the judgment conditions, the state in the working space of the hovercraft is divided into two types of a stable point and an unstable point, and the working space serves as a sample space to train a BP neural network to obtain a stable region judging model; at last, by means of a dichotomy and the BP neural network stable region judging model, the working space is searched, and therefore the safety boundary is obtained. In the real-time control process of the hovercraft, the safety boundary can serve as a judgment basis of an emergency control input in a dangerous working condition, and the safe navigation of the hovercraft is guaranteed. According to the judgment method of the safety boundary of the hovercraft, due to the fact that the safety boundary of the hovercraft in the current control law is calculated, unstability of the hovercraft due to misjudgments of operators can be reduced, the labor intensity and the mental burden of the operators can be reduced, and the great practical value is achieved.

The invention discloses a method for automatically drawing a navigable area central line on an inland river electronic chart. The method comprises the following steps: partitioning a high-water-level point set and a low-water-level point set; acquiring an outer boundary according to high-water-level points; acquiring an inner boundary according to low-water-level points; partitioning each line segment of a channel skeleton line of a Yangtze River main line into a plurality of small segments to obtain normal lines of connecting points for each segment; evaluating intersection points between each normal line and the inner and outer boundaries of a navigable area, and dividing every two intersection points into one group; evaluating the central point of each group of intersection points of each normal line respectively; connecting the central point obtained on each normal line to obtain the navigable area central line. By adopting the method, the navigable area central line can be drawn automatically as a navigation route for a ship to sail, and safe sailing of the ship can be ensured more scientifically, more effectively and more economically.

The invention relates to a main oil-passage no-pressure warning device of a hydraulic system, comprising a steering mechanism and a hydraulic pump group, wherein the hydraulic pump group comprises a first hydraulic pump group and a second hydraulic pump group. The main oil-passage no-pressure warning device is characterized in that: the first hydraulic pump group comprises an electric pump group,an oil box and an integrated valve block, wherein the integrated valve block is formed by installing a high-pressure manometer, a main oil-passage overflow valve, an oil-return passage overflow valve, an oil-return passage pressure relay, an electro-hydraulic reversing valve, a low-pressure manometer, a main oil-passage pressure relay and a special valve of a steering engine on an iron block, wherein an oil outlet of the oil box is connected with an oil suction hole of the electric pump group, an oil outlet of the electric pump group is connected with the electro-hydraulic reversing valve arranged on the integrated valve block to form a main oil passage, an oil return hole of the oil box is connected with the electro-hydraulic reversing valve to form an oil return loop after being connected with an oil-return filter, and the electro-hydraulic reversing valve is connected with the special valve of the steering engine. The main oil-passage no-pressure warning device of the hydraulic system monitors the pressure of the main oil passage of the hydraulic system and can know the oil-pressure condition of the main oil passage in time.

The invention discloses an integrated automatic driving system for unmanned ships, including: a sensing module for sensing the ship's navigation environment, and obtaining real-time channel, hydrology, ship's own status, and dynamic traffic environment information; a communication system for ships and Data and instructions are transmitted between shore bases and system modules; the data processing module is used to process the information obtained by the perception module; the decision-making module is used to identify the current operating situation and environment of the ship according to the data output by the data processing module, and select The action to be taken in the next step, and generate the corresponding operation instruction; the execution module is used to receive the operation instruction issued by the decision-making module and use the PID controller to control the propeller and rudder of the ship to change the motion state of the ship. This automatic driving integrated system for unmanned ships integrates functions such as sensing the environment, behavior decision-making, ship control, and remote control, which can greatly liberate manpower and ensure safe navigation of ships.

The invention relates to a kind of navigation system especially an intelligent system used to vessel based on MapX digital sea chart. It is mainly applied for the system of digital sea chart that was in GPS navigation instrument. In the hardware there is industrial controlling machine with display which characters that the related navigation instrument comprises communication navigate system, geography information system and freedom intelligent system that has function of decision. The system adopts MarX as the supporting platform of digital sea chart and has the advantage of high accuracy and convenience.

The invention relates to a ship inland river navigation early warning and auxiliary collision avoidance method, which comprises the following steps of obtaining navigation channel boundary data and navigation obstacle data, dividing a navigation channel into a plurality of navigation segments, and associating the navigation segment boundary data and the navigation obstacle data corresponding to each navigation segment with the corresponding navigation segment; acquiring position data and heading data of the ship; according to the position data of the ship and the route segment boundary data ofeach route segment, obtaining the route segment where the ship is located as a current route segment; judging whether the ship runs along the navigation channel or not, and if so, acquiring yaw dataaccording to the navigation segment boundary data of the current navigation segment, acquiring collision avoidance data according to the navigation obstruction data of the current navigation segment,and acquiring auxiliary decision data corresponding to the collision avoidance data based on an inland river collision avoidance rule; and outputting yaw early warning information based on the yaw data, and outputting auxiliary collision avoidance decision information based on the auxiliary decision data. According to the invention, effective early danger early warning and navigation assistance functions can be realized.

The invention relates to a battery switching management system and method in an AUV (Autonomous Underwater Vehicle). An AD detection module is connected with a battery module for collecting the battery voltage. A single-chip microcomputer main control module is connected with the AD detection module for receiving a digital signal of the battery voltage sent by the AD detection module. The single-chip microcomputer main control module is connected with a relay module for judging the status of the current battery module according to the received digital signal of the battery voltage and sendinga control signal to the relay module to control the on-off of the relay module so as to complete power supply line switching. When a sailing body battery supplying power to AUV sailing body equipmentor a load battery supplying power to load equipment fails, the battery is automatically switched to the other side through the battery switching management system to continue emergency power supply for the corresponding equipment so that the operation of the basic functions of the sailing body is ensured and the sailing body can make a return voyage. The mode of mutual backup of two batteries greatly improves the reliability of the power supply system and ensures the normal operation of AUV.

The invention discloses an LED fishing lamp fishing boat control system. According to the system, a computer-aided control mode is used, an MCU is used as a data processing center, and a touch screen is a control platform system for man-machine communication. The system comprises the following six sub-systems and is used for controlling the six sub-systems, including an LED fishing lamp direct-current power supply integrated control system, an LED fishing lamp telescopic rack control system, an LED fishing lamp cooling heat exchange control system, a fishing boat electric power supply control system, a fishery water area status monitor system and a fishing net deploying and retracting control system. The system can be used for carrying out high-efficiency multi-sea-state fishery fishing control for single-lamp high power and single-boat multi-lamp of the LED fishing lamp, and is especially suitable for the field of pelagic light trapping fishing with flexible manpower and automatic requirement.

The invention relates to the technical field of unmanned ships, and provides a structural laying layer for an unmanned ship and a preparation method of the structural laying layer. The structural laying layer for the unmanned ship comprises a composite fabric layer and a curing adhesive permeating into the composite fabric layer, wherein the composite fabric layer comprises a first fabric layer, a second fabric layer, a third fabric layer and a fourth fabric layer which are sequentially laid, and the acute angle between the wefts of any two fabric layers of the first fabric layer, the second fabric layer, the third fabric layer and the fourth fabric layer is greater than or equal to 45 degrees. The structural laying layer for the unmanned ship has the advantages of light weight, high strength and high elasticity.

The invention provides a diesel engine scavenging box fire extinguishing device and a system, which relate to the technical field of diesel engine detection and control. The diesel engine scavenging box fire extinguishing device comprises a detection device, a control device and an execution device; the detection device is arranged in a scavenging box of a diesel engine, is connected with the control device, and sends a detection signal to the control device so as to detect whether a fire breaks out in the scavenging box; the control device is connected with the execution device through a drive circuit, receives the detection signal and sends an execution command to the execution device; the execution device carries out fire prevention and fire extinguishment operation through releasing different fire extinguishing media. The fire can be automatically judged through the detection device, so that the breaking out of the fire can be prevented. After the breaking out of the fire is determined or a fire sign happens, the execution device is automatically controlled to cool and extinguish the fire, so that the time from fire determination to fire extinguishing execution is effectively shortened, the aims of timely discovering the fire and quickly eliminating the potential safety hazard are achieved, and the safe navigation of ships is further ensured.

The invention relates to a 3D model display interface and display method for ROV (Remote Operated Vehicle) control. The 3D model display interface includes a data acquisition unit used for acquiring the operation attitude data of an ROV body, and a 3D model generation unit used for carrying out 3D modeling based on the operation attitude data and a preset coordinate system to generate a current pose model of the ROV body. The current pose model of the ROV body is established online according to the operation attitude data, and the current pose of the ROV body is simulated in real time by usingthe 3D model. Even if the ROV body encounters an underwater accident, the presentation of the current pose picture will not be affected. Therefore, the whole process of underwater operation of the ROV body can be controlled, and the user experience of ROV navigation can be improved.

The invention relates to a multi-channel transmission unmanned ship information management method. The method is technically characterized in that a multi-channel transmission system comprising a wireless data transmission link, a wireless image transmission link and a satellite communication link is established between an unmanned ship platform and a monitoring system; unmanned ship platform information is integrated and uploaded to a monitoring system through a ship end data transmission radio communication interface; and the information of the monitoring system is integrated and is issued to the unmanned ship platform through a communication interface of the data transfer radio at the monitoring end. The data transmission radio is used as a main transmission channel for uploading key information of a boat platform and issuing a control instruction of a monitoring system, the image transmission radio is used as a data transmission auxiliary channel, and the Beidou short message satellite communication starts a transmitting function only when both the data transmission radio and the image transmission radio fail and is used as an auxiliary channel. According to the technical scheme of the invention, the unmanned ship platform can be continuously monitored by the monitoring system, the real-time transmission of information can be ensured, the interference frequency of Beidou short message communication to satellite navigation can be reduced, and the safe navigation of the unmanned ship is guaranteed.

The invention provides a device for measuring the gravity center of a waterborne carrier in a motion state. The device is characterized by being provided with four or more GNSS signal receiving devices, a posture sensor device and a CPU data recording and processing device, wherein the GNSS signal receiving devices are used for receiving a GNSS satellite signal in real time, and calculating the geographic coordinates of an observing point; two of the GNSS signal receiving devices are arranged in the heading direction of the waterborne carrier; the posture sensor device is used for acquiring the posture values of rolling, pitching and heaving of the waterborne carrier in real time; and the CPU data recording and processing device is connected with each GNSS signal receiving device and the posture sensor, and used for recording the observing value of each device in real time, and processing the observation values to obtain the coordinates of the gravity center of the waterborne carrier under a waterborne carrier coordinate system. Through adoption of the device and method for measuring the gravity center of the waterborne carrier, the gravity center position of the waterborne carriercan be obtained accurately in real time specific to the problems of irrationality and inaccuracy of an existing waterborne carrier gravity center determining method.