CN105354586B - Multirate sensor level based adjustment device and method with packet loss phenomenon - Google Patents
Multirate sensor level based adjustment device and method with packet loss phenomenon Download PDFInfo
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- CN105354586B CN105354586B CN201510616293.0A CN201510616293A CN105354586B CN 105354586 B CN105354586 B CN 105354586B CN 201510616293 A CN201510616293 A CN 201510616293A CN 105354586 B CN105354586 B CN 105354586B
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- G06F18/25—Fusion techniques
Abstract
The present invention relates to a kind of multirate sensor level based adjustment device and method with packet loss phenomenon.Including 1~N number of subsystem and Center Fusion unit, each subsystem is made of detection unit, filter, switch unit and switching controller, detection unit is observed the detection of value, filter unit carries out state estimation by observation to air cushion ship movement parameter, for switch unit for judging whether to be merged using the subsystem, Center Fusion unit further merges the subsystem chosen.The present invention participates in the subsystem of fusion by automatically adjusting, the flexibility of air cushion ship movement parameter convergence strategy can not only be improved, the adaptive capacity to environment of aircushion vehicle can also be improved, and the fusion method can weaken packet loss phenomenon well caused by aircushion vehicle action reference variable inaccurate even Divergent Phenomenon, there is higher fusion accuracy.
Description
Technical field
The present invention relates to a kind of motion parameter data fusion methods of aircushion vehicle, especially a kind of to have packet loss phenomenon
Multirate sensor level based adjustment method.
Background technology
Aircushion vehicle is a kind of special novel modern ships that can realize high speed operation.Resistance is small when due to navigation, navigation
Speed is up to 200km/h.The centripetal force generated mainly by air stream is navigated by water, the centripetal force is generally all smaller, therefore, in stormy waves shadow
Under sound, if inappropriate to action reference variable, it is easy for causing the overshoot of control, it is serious to lead to side drift or shipwreck.
For aircushion vehicle when sea is navigated by water, due to being influenced by wave disturbance, weather conditions are more complicated in practice, movement ginseng
Number such as trim, heel will have larger fluctuation, and aircushion vehicle movement velocity is general very fast, is difficult in time to these parameters
Accurate estimation.
Sensor measurement data transmits under complex environment is easy to that loss of data, i.e. packet loss phenomenon, current gas occurs
It pads ship kinematical equation and considers this phenomenon not yet, more handle packet loss problem, Er Qiechuan without a kind of effective method
The fusion method of system, if observation data are lost for a long time, it will increase evaluated error, or even cause to dissipate.
Simultaneously because the complexity of environment, uses single sensor, it is easy to be influenced by relevant interference so that fortune
The estimate error of dynamic parameter increases, and for this problem, currently establishes a kind of effective syncretizing mechanism not yet to overcome phase
The influence that closing property is brought.A kind of data fusion method that can be effectively applied to air cushion ship movement parameter is not established yet.
Invention content
The purpose of the present invention is to provide it is a kind of can realize aircushion vehicle measure packet loss when adaptive fusion, improve manipulation water
The multirate sensor level based adjustment device with packet loss phenomenon of gentle navigation stability.The present invention also aims to provide
A kind of multirate sensor level based adjustment method with packet loss phenomenon
The object of the present invention is achieved like this：
The multirate sensor level based adjustment device with packet loss phenomenon of the present invention including 1~N number of subsystem and center
Integrated unit, each subsystem are made of detection unit, filter, switch unit and switching controller, and detection unit is seen
The detection of measured value, filter unit carry out state estimation by observation to air cushion ship movement parameter, and switch unit is for judgement
No to be merged using the subsystem, Center Fusion unit further merges the subsystem chosen.
The detection unit by 1~sensors of N number of different sampling rates forms.
The present invention the multirate sensor level based adjustment method with packet loss phenomenon be：
(1) detection unit, the equation of motion based on system obtain the sensor observation under different rates；
(2) observation of the filter based on step (1) is filtered observation using Extended Kalman filter method；
(3) switching controller, according to the packet loss step number and filtering error of detection, to determine whether rejecting the current time son
The filter value of system decides whether that sending the subsystem numerical value reaches next stage fusion center；
(4) Center Fusion unit enters fusion center based on the subsystem for meeting condition that step (3) chooses, into
The further fusion of row.
The present invention proposes a kind of aircushion vehicle motion parameter data fusion method, it is therefore intended that realizes that aircushion vehicle measures packet loss
When adaptive fusion.When sensor subsystem for a long time without observation when, can automatic rejection, realize that the adaptive of subsystem is melted
It closes, and then improves the fault-tolerance of system, while improving the fusion accuracy of parameter.Improve manipulation level and navigation stability.
The subsystem detection unit of sensor composition with different rates, each detection unit is respectively with the rate of itself
Data are observed, and then using measured value as the input of filter unit.The input of filter is the output valve of detection unit.
The filtering algorithm with packet loss phenomenon is established, state estimation is obtained.Switch unit is determined by detecting continual data package dropout duration
Whether center type is participated in using this subsystem to merge.According to observation situation of change, transfer criterion realization subsystem oneself is established
Adapt to switching.Center Fusion unit is based on subsystems estimated value, using adaptive weighted coefficient to air cushion ship movement parameter
It is merged.
The present invention has the following advantages compared with the prior art and effect：The more biographies being made of different rates are initially set up
Sensor subsystem, overcoming single-sensor so is easily influenced by relevant interference, and is had compared with Method for Single Sensor System
In high precision, the advantages of high fault tolerance；Then, aircushion vehicle packet loss phenomenon is modeled for each subsystem, this
Sample makes packet loss problem visualize, and embodies；Sense signals filtering algorithm is established based on new packet-dropping model, carry out state is estimated
Meter, such subsystems are observed and filter so that different rates is independent, can effectively weaker saltant type noise pair
The interference of whole system has stronger anti-interference ability than same rate multisensor syste；Switching controller is increased simultaneously,
It is able to record the filtering error of continual data package dropout duration and subsystems, and subsystem continual data package dropout duration is long or filtering misses
When difference is excessive, dress changer controller autonomous will switch over, and to shield the subsystem, it be forbidden to enter in next stage fusion
The heart, and select normal subsystem as next stage fusion value, in this way, effectively subsystem fault can be prevented to whole system
It influences.To make whole system that there is high fault tolerance, high-precision advantage.
Description of the drawings
Fig. 1 is the multirate sensor level based adjustment device overall structure block diagram with packet loss phenomenon of the present invention.
Fig. 2 is the multirate sensor level based adjustment Method And Principle block diagram that the present invention has packet loss phenomenon.
Fig. 3 fusion center structure diagrams.
Fig. 4 subsystem algorithm flow charts.
Specific implementation mode
It illustrates below in conjunction with the accompanying drawings and the present invention is described in more detail.
In conjunction with Fig. 1, the multirate sensor level based adjustment device with packet loss phenomenon of the invention includes 1~N number of subsystem
System and Center Fusion unit, each subsystem are made of detection unit, filter, switch unit and switching controller, and detection is single
Member is observed the detection of value, and filter unit carries out state estimation by observation to air cushion ship movement parameter, and switch unit is used
In judging whether to be merged using the subsystem, Center Fusion unit further merges the subsystem chosen.
In conjunction with Fig. 2, the multirate sensor level based adjustment method and step with packet loss phenomenon of the invention is as follows：
1. using aircushion vehicle six-degree of freedom position frame of reference as research object, the motion state model of aircushion vehicle is：
Wherein ψ be bow to angle, θ is Angle of Trim,For Angle of Heel.U, v, w are axial velocity.P, r, q are attitude angular velocity.
ξ, η, ζ indicate the coordinate substrate being converted under fixed coordinate system.
Discretized system equation can be obtained by system differential equation (1)：
X (k)=f (x (k-1))+w (k-1) (2)
Wherein, state variableSystematic procedure noise w (k-1) is white Gaussian noise.
Observational equation is：
yi(k)=hi(x(k))+vi(k),k≥0, (3)
Wherein, observation vector yi(t), hi=I6×6, measurement noise vi(t) it is Gaussian sequence.
Receiving equation is：
zi(k)=zyi(k)+(1-z)zi(k-1),k≥0, (4)
Wherein zi(k) indicate that the observation that i-th of subsystem of k moment is an actually-received, ζ indicate that the packet loss of sensor occurs
Probability, the reception measured value when packet loss occurs using k-1 receptions value as the moment；
2. for the subsystem of (2) (3) (4) formula description, sub-system is rewritten first, by observational equation and receives equation conjunction
And it is written as following form：
Y (k)=H (x (k))+V (k), k >=0, (5)
For the system that equation (2) and (5) form, estimation is filtered using expanded Kalman filtration algorithm
3. subsystem switching controller, flow is as shown in figure 4, according to the packet loss step number and filtering error of detection, to judge
The filter value of the current time subsystem whether is rejected, and then decides whether that sending the subsystem numerical value reaches in next stage fusion
The heart establishes subsystem fault examination criteria function.For packet loss phenomenon, indicate whether the subsystem meets condition with Θ：
Wherein τ indicates continual data package dropout duration, and when continual data package dropout is more than three sampling periods, automatically switching the subsystem makes
It cannot participate in next stage fusion, when continual data package dropout duration was less than for three sampling periods, meets fusion and require, controller allows it
Participate in the fusion of next stage.
For filtering divergence phenomenon, filtering innovation representation subsystem fault detection function ρ can be used：
ρ (k)=εT(k)β-1(k)ε(k) (7)
What wherein ε (k) was indicated is the new breath of filtering, and the new covariance that ceases is β (k), and ρ (k) is to obey the χ that degree of freedom is m2Point
Cloth, m are the dimension of measured value Y (k).Breakdown judge criterion is：If ρ (k) >TDSubsystem is judged by failure, if ρ (k)≤TDJudgement
Fault-free.Wherein TDFor failure determination threshold value；Switch control logic is established based on the above packet loss detection and fault detect function, from
The selection subsystem of adaptation participates in fusion；
4. Center Fusion unit, as shown in figure 3, entering fusion based on the subsystem for meeting condition that step 3 chooses
Center is further merged, and fusion method uses adaptive weighted fusion herein, it is assumed that the ginseng of each sensor subsystem
Number estimated value is x1,x2........xn-1,xnVariance is σ1 2,σ2 2........σn-1 2,σn 2, the weights of each sensor are w1,
w2........wn-1,wn, then the value after system globe area beAndState variance after merging simultaneously is most
It is small, i.e. σ2≤σ1 2,σ2 2........σn-1 2,σn 2The state fusion value under Linear Minimum Variance is finally obtained.
Claims (3)
1. a kind of multirate sensor level based adjustment method with packet loss phenomenon, the multirate sensor point with packet loss phenomenon
Grade fusing device includes 1~N number of subsystem and Center Fusion unit, and each subsystem is by detection unit, filter, switch unit
Formed with switching controller, the detection unit by 1~sensors of N number of different sampling rates forms, it is characterized in that：
The detection unit of (1) subsystem, the equation of motion based on system obtain the sensor observation under different rates,
It specifically includes：The equation of motion of system is：
Wherein ψ be bow to angle, θ is Angle of Trim,For Angle of Heel, u, v, w are axial velocity, and p, r, q are attitude angular velocity, ξ, η, ζ
Indicate the coordinate substrate being converted under fixed coordinate system,
Discretized system equation：
X (k)=f (x (k-1))+w (k-1) (2)
Wherein, state variableSystematic procedure noise w (k-1) is white Gaussian noise,
Observational equation is：
yi(k)=hi(x(k))+vi(k),k≥0, (3)
Wherein, observation vector yi(t), hi=I6×6, measurement noise vi(t) it is Gaussian sequence,
Receiving equation is：
zi(k)=zyi(k)+(1-z)zi(k-1),k≥0, (4)
Wherein zi(k) observation that is an actually-received of i-th of subsystem of k moment is indicated, constant that z is is sent out by the packet loss of sensor
Raw probability ζ decisions, the reception measured value when packet loss occurs using k-1 receptions value as the moment；
(2) filter of the subsystem is based on the observation of step (1), using Extended Kalman filter method, to observation into
Row filtering；
(3) switching controller of the subsystem, according to the packet loss step number and filtering error of detection, to determine whether when rejecting current
The filter value for carving the subsystem decides whether that sending the subsystem numerical value reaches fusion center；
(4) Center Fusion unit enters fusion center, into traveling based on the subsystem for meeting condition that step (3) chooses
The fusion of one step.
2. the multirate sensor level based adjustment method according to claim 1 with packet loss phenomenon, it is characterized in that described
Decide whether that sending subsystem numerical value arrival fusion center includes：
For packet loss phenomenon, indicate whether the subsystem meets condition with Θ：
Wherein τ indicates continual data package dropout duration, and when continual data package dropout is more than three sampling periods, automatically switching the subsystem makes it not
Next stage fusion can be participated in, when continual data package dropout duration was less than for three sampling periods, meets fusion and requires, controller allows its participation
The fusion of next stage；
For filtering divergence phenomenon, with filtering innovation representation subsystem fault detection function ρ：
ρ (k)=εT(k)β-1(k)ε(k)
What wherein ε (k) was indicated is the new breath of filtering, and the new covariance that ceases is β (k), and ρ (k) is to obey the χ that degree of freedom is m2Distribution, m are
The dimension of measured value Y (k)；Breakdown judge criterion is：If ρ (k) > TDSubsystem is judged by failure, if ρ (k)≤TDJudgement is without reason
Barrier, wherein TDFor failure determination threshold value.
3. the multirate sensor level based adjustment method according to claim 2 with packet loss phenomenon, it is characterized in that：Fusion
Method uses adaptive weighted fusion, if the estimates of parameters of each sensor subsystem is x1,x2......xn-1,xnVariance is
σ1 2,σ2 2......σn-1 2,σn 2, the weights of each sensor are w1,w2......wn-1,wn, then the value after system globe area beAndState variance after merging simultaneously is minimum, i.e. σ2≤σ1 2,σ2 2......σn-1 2,σn 2It finally obtains
State fusion value under Linear Minimum Variance.
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| CN102944216A (en) * | 2012-10-29 | 2013-02-27 | 中国海洋石油总公司 | Three-redundant ship dynamic positioning heading measurement method based on improved voting algorithm |
| CN103278152A (en) * | 2013-04-22 | 2013-09-04 | 哈尔滨工程大学 | Fusion method of reference system for ship asynchronous position |
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| CN102944216A (en) * | 2012-10-29 | 2013-02-27 | 中国海洋石油总公司 | Three-redundant ship dynamic positioning heading measurement method based on improved voting algorithm |
| CN103278152A (en) * | 2013-04-22 | 2013-09-04 | 哈尔滨工程大学 | Fusion method of reference system for ship asynchronous position |
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