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Ship motion model adaptive identification method and system based on data filtering

A technology of model self-adaptation and ship motion, applied in the field of ship motion parameter identification, can solve the problems of manpower and material resources, lack of verification, time-consuming and labor-consuming test results of the identification system, etc., so as to improve the identification efficiency and solve the time-consuming and labor-consuming problems. Effect

Pending Publication Date: 2021-05-11
苏州斯景科技有限公司
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  • Application Information

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Problems solved by technology

The identification model method of this patent application has good universality and can realize fast and accurate identification of ship models, but its method is concentrated in the simulation verification research stage, and the verification of actual ship or ship model test results is still lacking
[0006] It can be seen that the existing system identification needs to delineate a large area in a certain water area as the test water area, and then carry out the simulation of the ship motion process and the identification of the ship motion model in the test water area. The navigation of the ship consumes a lot of manpower and material resources. Therefore, it is necessary to provide an adaptive identification method for the ship motion model, which can adaptively identify the ship motion parameters without affecting the normal operation of the ship and has a high accuracy. Identification accuracy, solving the problems of time-consuming and labor-intensive existing identification systems and lack of verification of actual ship or ship model test results

Method used

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  • Ship motion model adaptive identification method and system based on data filtering
  • Ship motion model adaptive identification method and system based on data filtering

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Embodiment 1

[0033] like figure 1 As shown, the present invention provides a method for adaptive identification of ship motion models based on data filtering, comprising the following steps:

[0034] Step 1, setting a desired heading angle, a desired yaw rate, a first predetermined time and a second predetermined time.

[0035] Specifically, the expected heading angle is set for monitoring and comparison with the real-time heading angle, and based on this, it is judged whether the real-time heading angle exceeds the threshold range. There is a heading angle deviation between the expected heading angle and the actual heading angle, and the heading angle deviation falls within the threshold range, which is negligible. When the heading angle exceeds the threshold range, it needs to be combined with other judgment conditions to comprehensively judge whether to enable the Identify state.

[0036] The expected yaw rate is set for monitoring and comparison with the real-time yaw rate, and based...

Embodiment 2

[0052] like figure 2 As shown, this embodiment provides a data filtering-based ship motion model adaptive identification system, which is realized by using the data filtering-based ship motion model adaptive identification method, and the system includes:

[0053] The monitoring module is used to monitor the real-time course angle, yaw rate and ship navigation speed, and simultaneously monitor the time changes of course angle, yaw rate and ship navigation speed;

[0054] The judging module is used for comparing and judging the monitored real-time course angle and yaw rate and corresponding time changes with their respective threshold ranges, and when the real-time course angle and yaw rate exceed their respective threshold ranges and continue to When the first predetermined time is reached, start the identifiable module;

[0055] The identifiable module is used to record the navigation data of the ship in the identifiable state and at the same time start the recursive least ...

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Abstract

The invention discloses a ship motion model adaptive identification method and system based on data filtering. The method comprises the following steps: monitoring a course angle and a yawing angular velocity of ship motion; when it is monitored that the real-time course angle and the real-time yawing angle speed both exceed the respective threshold value ranges and last for first preset time, starting an identifiable state; recording ship navigation data at the moment, and starting a recursive least square method to identify system parameters at the same time; and when it is monitored that at least two of the real-time course angle, the yawing angular speed and the ship navigation speed enter a stable state and last for second preset time, quitting the recognizable state. In the normal sailing process of the ship, self-adaptive identification of the ship motion model is realized through automatic judgment, automatic identification and automatic quit of the identifiable state, and limitation of an existing identification system on test time and test space is avoided.

Description

technical field [0001] The invention belongs to the technical field of ship motion parameter identification, and in particular relates to a data filtering-based self-adaptive identification method and system for a ship motion model. Background technique [0002] When a ship sails at sea or performs combat missions, it will inevitably be disturbed by the ocean environment such as waves, sea winds, and currents, and it will inevitably produce swaying motions. This swaying motion includes roll, pitch, yaw, sway, Surge, heave (or heave). The ship motion model describes the response characteristics of the ship to the control input (rudder angle) during the motion process. With the development of maritime transportation, the research on the ship motion model is becoming more and more important. Understanding and mastering the ship motion model is the key to maneuvering and controlling the ship. It is also the basis for studying the maneuverability of the ship and designing the au...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/20G06F111/10
CPCG06F30/20G06F2111/10
Inventor 熊勇
Owner 苏州斯景科技有限公司
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