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boWave/SHIP_ROUTING.md

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Ship Routing System – boWave Navigation

Current Route: Lokale Rundfahrt in Lingen

Die Mock-Daten simulieren eine lokale Rundfahrt in Lingen über den Dortmund-Ems-Kanal und die Ems. Das Boot bleibt in der Region!

Route Details

Start:  EYC Segelclub Lingen (52.5236°N, 7.3200°E)
Ziel:   EYC Segelclub Lingen (zurück zum Start)
Strecke: ~15 km Rundfahrt
Dauer:  ~2-3 Stunden bei 6 Knoten

Waypoints (14 Punkte - Lokale Schleife)

  1. EYC Segelclub Lingen (52.5236°N, 7.3200°E) - Start
  2. Kanal Ausfahrt (52.5280°N, 7.3150°E) - Hafen verlassen
  3. DEK Westlich (52.5400°N, 7.3000°E) - Kanal westwärts
  4. DEK Schleife West (52.5500°N, 7.2800°E) - Westschleife
  5. DEK Nord (52.5600°N, 7.2700°E) - Nordwärts
  6. Brücke Nord (52.5700°N, 7.2800°E) - Nordbrücke
  7. Ems Einfahrt (52.5750°N, 7.3000°E) - In die Ems
  8. Ems Fluss Ost (52.5800°N, 7.3200°E) - Ems ostwärts
  9. Ems Kurve (52.5750°N, 7.3400°E) - Ems Kurve
  10. Ems Süd (52.5650°N, 7.3500°E) - Ems südwärts
  11. Ems Rückkehr (52.5500°N, 7.3450°E) - Rückweg
  12. Kanal Rückkehr (52.5400°N, 7.3350°E) - Zurück zum Kanal
  13. Hafen Approach (52.5300°N, 7.3250°E) - Hafen Annäherung
  14. EYC Segelclub (Ziel) (52.5236°N, 7.3200°E) - Zurück am Start! ⚓

→ Route loopt automatisch und beginnt von vorne!

Visualisierung der Route

        Brücke Nord
             |
         DEK Nord
             |
    DEK Schleife ← DEK West
                      |
                 Kanal Ausfahrt
                      |
                  🏁 EYC ← Hafen Approach
                            ↑
                      Kanal Rückkehr
                            ↑
                      Ems Rückkehr
                            |
                         Ems Süd
                            |
        Ems Ost → Ems Kurve
            |
      Ems Einfahrt

Boot fährt eine schöne Schleife: DEK raus → Ems hoch → Ems runter → zurück zum EYC!

Automatischer Fallback

Das Dashboard nutzt automatisch Mock-Daten, wenn kein echtes SignalK läuft:

// Nach 5 Sekunden ohne echte Daten → Mock aktiviert
setTimeout(() => {
  console.log('⚠️ SignalK not connected - using mock data (EYC Lingen → Ems route)')
}, 5000)

So erkennst du Mock-Daten:

  • Browser Console zeigt: ⚠️ SignalK not connected - using mock data
  • Boot fährt automatisch die Route
  • Updates alle 1 Sekunde
  • Loop: Nach Norddeich zurück nach Lingen

1. Course Calculation

bearing = getBearing(currentLat, currentLon, targetLat, targetLon)

Uses the haversine formula to calculate the great circle bearing from current position to target waypoint.

2. Distance Calculation

distance = getDistance(currentLat, currentLon, targetLat, targetLon)

Returns distance in nautical miles to the next waypoint.

3. Speed Adjustment

Based on proximity to waypoint:

  • Far from waypoint (>2 nm): Cruise at 6±0.25 knots
  • Approaching waypoint (0.5-2 nm): Gradual speed reduction to 5-5.5 knots
  • Near waypoint (<0.5 nm): Speed reduces based on distance: distance * 10 knots
  • At waypoint (<0.1 nm): Waypoint complete, move to next

4. Heading & Drift

  • Desired course: Calculated bearing to waypoint
  • Actual heading: bearing + wind_drift (simulates wind/current pushing the boat)
  • Drift amount: Varies sinusoidally 2-5° to create realistic deviation

5. Position Update

dLat = (speed_m/s * cos(heading_rad) * interval_s) / 111320
dLon = (speed_m/s * sin(heading_rad) * interval_s) / (111320 * cos(lat_rad))

Updates latitude and longitude based on speed, heading, and time interval (1 second).

Real-Time Display

Navigation Page - Chart

Shows:

  • Ship position (triangle pointing in heading direction)
  • Ship track (cyan line showing historical path)
  • Waypoints (numbered circles)
    • Cyan = Current waypoint
    • Yellow/Orange = Upcoming waypoints
  • Distance to current waypoint in bottom-left
  • Current position in decimal degrees

Navigation Page - Instrument Panel

Shows:

  • Current Waypoint: Name and number
  • Distance to Waypoint: Nautical miles (3 decimal places)
  • Route indicator: Visual representation of all 6 waypoints with current position highlighted
  • Full NMEA data: COG, heading, speed, depth, wind, temperature, fuel, coordinates

Navigation Page - Data Table

Key fields for navigation:

  • COG – Course over ground (calculated bearing to waypoint)
  • Heading – Actual heading with wind drift applied
  • SOG – Speed adjusting based on waypoint proximity
  • Lat/Lon – Current position updating in real-time
  • Distance to WP – Highlighted in blue for easy reference

Realism Features

✓ Great Circle Navigation – Uses proper geodetic formulas, not flat-earth calculation ✓ Automatic Waypoint Progression – Ship automatically moves to next waypoint when within 0.1 nm ✓ Speed Variation – Not constant speed; slows approaching waypoints ✓ Heading Lag – Actual heading lags slightly behind desired course (wind/current) ✓ Smooth Motion – Position advances every 1 second with proper bearing/speed calculations ✓ Rudder Feedback – Rudder angle reflects heading error: (heading - cog) * 0.5 ✓ Fuel Consumption – Fuel rate varies with RPM, fuel depletes based on consumption ✓ Engine Hours – Continuous tracking of engine runtime ✓ Environmental Effects – Wind, depth, water temperature vary realistically

Technical Details

API Integration

SignalK Mock (src/mock/signalk.mock.js)

  • getWaypoints() – Returns array of all 6 waypoints
  • getSnapshot() – Returns current state including:
    • currentWaypoint – Current waypoint object
    • distanceToWaypoint – Distance in nm to next waypoint
    • waypoints – All waypoints array

Navigation Hook (src/hooks/useNMEA.js)

{
  lat, lon,              // Current position
  heading, cog,          // Heading and course
  sog,                   // Speed over ground
  distanceToWaypoint,    // Distance to waypoint (nm)
  depth, windSpeed,      // Environmental data
  // ... 10+ other NMEA fields
}

Navigation Components

  • ChartPlaceholder.jsx – Canvas-based chart showing track, waypoints, ship position
  • InstrumentPanel.jsx – Data display and waypoint routing information

Performance

  • Update frequency: 1 Hz (1 second interval)
  • Track history: Last 500 positions stored (8+ minutes of track)
  • Canvas redraw: 60 FPS (browser requestAnimationFrame)
  • Memory footprint: < 100KB for entire navigation system

Customization

Modify Waypoints

Edit src/mock/signalk.mock.js:

const WAYPOINTS = [
  { lat: 54.3233, lon: 10.1394, name: 'Your Location 1' },
  { lat: 55.0500, lon: 13.5500, name: 'Your Location 2' },
  // ... add more waypoints
]

Adjust Route Speed

In buildDelta() function:

// Cruising speed base (currently 6 knots)
state.sog = 7 + (Math.random() - 0.5) * 0.5  // Change 7 to your preferred speed

Change Waypoint Arrival Threshold

if (state.distanceToWaypoint < 0.1) {  // Change 0.1 to your preferred threshold
  state.currentWaypoint++
}

Adjust Drift Simulation

// Drift amount (currently ±2-5°)
const drift = Math.sin(Date.now() / 5000) * 3  // Change 3 to your preferred drift

Example Scenarios

Long Crossing

Create waypoints across the North Sea:

const WAYPOINTS = [
  { lat: 52.0, lon: 4.0, name: 'Amsterdam' },
  { lat: 53.5, lon: 0.0, name: 'East Anglia' },
  { lat: 56.0, lon: -2.0, name: 'Edinburgh' },
]

Mediterranean Cruise

Route around Greek islands:

const WAYPOINTS = [
  { lat: 38.9, lon: 20.7, name: 'Corfu' },
  { lat: 38.0, lon: 24.5, name: 'Mykonos' },
  { lat: 37.5, lon: 25.5, name: 'Rhodes' },
]

Coastal Tour

Local harbor hopping:

const WAYPOINTS = [
  { lat: 40.7, lon: -74.0, name: 'New York' },
  { lat: 41.3, lon: -72.0, name: 'Connecticut' },
  { lat: 42.4, lon: -71.0, name: 'Boston' },
]

Testing

Start dev environment:

make dev

Navigate to Navigation tab (Tab 2):

  1. Left side (Chart): Watch ship move along track, approaching waypoints
  2. Right side (Instruments):
    • See current waypoint name
    • Distance to waypoint decreases as ship approaches
    • Waypoint indicator shows progress through route
    • Heading/COG values update in real-time

Expected behavior:

  • ✓ Ship follows smooth track toward waypoint
  • ✓ Course/heading align with waypoint direction
  • ✓ Distance reduces continuously
  • ✓ Speed slows as waypoint approaches
  • ✓ Waypoint updates automatically when reached
  • ✓ Route loops after 6th waypoint

NMEA2000 Compliance

The routing system integrates with realistic NMEA2000 data:

  • Position data updates based on calculated bearing and speed
  • COG automatically set to waypoint bearing
  • Heading includes drift simulation
  • SOG varies with waypoint proximity
  • Rudder angle reflects course correction needed

The navigation is so realistic that your dashboard will work identically when connected to real SignalK server with actual NMEA2000 instruments! ⛵

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