CN108986433A - A kind of alarm method that ship topples - Google Patents
A kind of alarm method that ship topples Download PDFInfo
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- CN108986433A CN108986433A CN201810903040.5A CN201810903040A CN108986433A CN 108986433 A CN108986433 A CN 108986433A CN 201810903040 A CN201810903040 A CN 201810903040A CN 108986433 A CN108986433 A CN 108986433A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B29/00—Checking or monitoring of signalling or alarm systems; Prevention or correction of operating errors, e.g. preventing unauthorised operation
- G08B29/18—Prevention or correction of operating errors
- G08B29/185—Signal analysis techniques for reducing or preventing false alarms or for enhancing the reliability of the system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/08—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using communication transmission lines
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B29/00—Checking or monitoring of signalling or alarm systems; Prevention or correction of operating errors, e.g. preventing unauthorised operation
- G08B29/02—Monitoring continuously signalling or alarm systems
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Computer Security & Cryptography (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of alarm methods that ship topples, by the gravity accelerometer real-time measurement that is fixed on hull based on three axis gravity acceleration values under the static constant orthogonal three-axis reference of hull, as continuously occur output vector synthesized by three axis gravity acceleration values within the period of artificial settings and three axis gravity acceleration values that hull is at a normal level under state synthesized by angle between reference vector be greater than or equal to setting value, alarm of toppling then is issued by long-distance radio communication mode, it is toppled the real-time monitoring of situation with realizing to ship, and improve its accuracy.
Description
Technical field
The present invention relates to Ship Design manufacturing fields, and in particular to a kind of alarm method that ship topples.
Background technique
Since ship operation at sea has the characteristics of easily toppling, in the prior art, for the feelings of toppling to ship
Condition is remotely monitored, it will usually install monitoring device, on ship with the acceleration of gravity by gravity sensor to ship
The variation of measurement data, judges whether ship topples.
But since sea condition is complicated and changeable, ship is in the process of moving vulnerable to natural phenomenas such as wave, storms
Disturbance, therefore when ship is by severe impact, it is fixed in gravity acceleration value detected by the gravity sensor on ship
It will appear exception, so that the alarm signal that erroneous judgement issues mistake occurs in monitoring equipment.
Summary of the invention
It is an object of the invention to overcome the problems, such as drawbacks described above present in background technique or, provide what a kind of ship toppled
Alarm method and improves its accuracy to carry out real-time monitoring to ship situation of toppling.
To reach above-mentioned purpose, the present invention adopts the following technical scheme:
First technical solution passes through the acceleration of gravity being fixed on hull about a kind of alarm method that ship topples
Sensor real-time measurement is such as artificially being set based on three axis gravity acceleration values under the static constant orthogonal three-axis reference of hull
Continuously occur output vector synthesized by three axis gravity acceleration values in the fixed period and hull is at a normal level under state
Three axis gravity acceleration values synthesized by angle between reference vector be greater than or equal to setting value, then pass through long-distance radio communication
Mode issues alarm of toppling.
Based on the first technical solution, it is also preferably provided with the second technical solution of the alarm method to topple about ship,
Design are as follows: when the error between the modulus value of the output vector and the modulus value of reference vector is greater than or equal to 10%, be then considered as
Output vector synthesized by three axis gravity acceleration values and hull are at a normal level three axis gravity acceleration value institutes under state
The case where angle between the reference vector of synthesis is less than setting value.
Based on first or second technical solution, it is also preferably provided with third technical solution, is designed are as follows: every artificial settings
During measure and three axis gravity acceleration values that storage is described, and to the gravity acceleration value of each axis in the following manner into
Row filtering obtains the acceleration of gravity output valve of the axis, then converts described orthogonal three for the acceleration of gravity output valve of three axis
Output vector under axis coordinate system, the specific steps are as follows:
Step 1: calculating the mean value of measured K subgravity acceleration from a certain axis directionWith measurement variance MCn；
Step 2: estimate variance EC is calculated, formula is as follows:
ECn=(1-KGn-1)ECn-1+rand
Wherein, ECn is this estimate variance, KGn-1For last kalman gain, ECn-1For last estimation
Variance, rand are random number；
Step 3: kalman gain KG is calculated, formula is as follows:
Wherein, KGn is this kalman gain, and ECn is this estimate variance, and MCn is this measurement variance；
Step 4: estimated value EV is calculated, formula is as follows:
EVn=OVn-1+KGn(MVn-OVn-1)
Wherein, EVnFor this estimated value, OVn-1For the output valve of last time measurement, MVnFor this measured value；
Step 5: output valve is calculated, formula is as follows:
OVn=A*EVn+(1-A)*OVn-1
Wherein, OVn is the output valve of this acceleration of gravity, and A is the filter factor of first-order filtering；
In initial calculation, the initial value of estimate variance EC is random number rand, and the specific value of the random number is nearest K
The mean value of a measured value10%；The initial value of estimated value EV and output valve OV are that hull is at a normal level under state
Three axis gravity acceleration values.
By the above-mentioned description of this invention it is found that compared with the existing technology, have following of the present invention the utility model has the advantages that
1, in the first technical solution and other technologies scheme based on or for the first technical solution, by being fixed in ship
Gravity accelerometer real-time measurement on body is added based on three axis gravity under the static constant orthogonal three-axis reference of hull
Velocity amplitude, and whether continuously there is output vector and ship synthesized by three axis gravity acceleration values taking human as in the period of setting
The angle that body is at a normal level reference vector part synthesized by three axis gravity acceleration values under state is greater than or equal to setting
Value is used as criterion, and to control whether ship will issue alarm signal of toppling by long-distance radio communication mode, this method is not
The timeliness and accuracy for improving only alarm signal transmission, also having reduced or eliminated influences because judging understood bring by accident, therefore
This method is compared with the prior art, more scientific and reasonable.
2, in the second technical solution and other technologies scheme based on or for the second technical solution, why need pair
Error between the modulus value of output vector and the modulus value of reference vector is defined, and is to remove and some generate because of disturbance
Abnormal output valve, therefore some unnecessary data are rejected by the method that error limits, to accelerate subsequent work
Process, and then improve the timeliness and accuracy of system.
3, in third technical solution and other technologies scheme based on or for third technical solution, a kind of filter is provided
Why the specific method of wave measures during artificial settings and stores the three axis gravity acceleration values, and to every
After the gravity acceleration value of one axis is filtered, then convert the acceleration of gravity output valve of three axis under orthogonal three-axis reference
Output vector, be in order to which follow-up system in the period of artificial settings to continuously occurring synthesized by three axis gravity acceleration values
Output vector and hull are at a normal level the ratio of angle between reference vector synthesized by three axis gravity acceleration values under state
It relatively prepares, whether this method is conducive to improve subsequent judgement ship and topples the accuracy of process.
4, in step 3 by way of being improved to kalman gain and it is made to become radical sign, using this calculation method
Improve the timeliness of system.
5, in step 4 with the OV after first-order filteringn-1Rather than own value EVn-1As feedback, using this calculation method
Increase the stability of output data.
6, added first-order filtering in steps of 5 so that output data more restrains, be conducive to data stablize output and
Closer to true value.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below to needed in embodiment description
Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for this field
For those of ordinary skill, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is relation schematic diagram of the embodiment of the present invention；
Fig. 2 is low power processor connection relationship diagram；
Fig. 3 is high-performance processor wake-up circuit schematic diagram；
Fig. 4 is high-performance processor wake-up circuit schematic diagram；
Fig. 5 is sensor circuit schematic diagram；
Fig. 6 is communication module circuit diagram.
Specific embodiment
Below by the attached drawing closed in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, described embodiment is the preferred embodiment of the present invention, and is not to be seen as the row to other embodiments
It removes.Based on the embodiment of the present invention, those skilled in the art are obtained all under the premise of not making creative work
Other embodiments shall fall within the protection scope of the present invention.
In claims of the present invention, specification and above-mentioned attached drawing, term " first ", " second " or " third " are such as used
Deng being provided to distinguish different objects, be not use to describe a particular order.
In claims of the present invention, specification and above-mentioned attached drawing, such as using term " includes ", " having " and they
Deformation, it is intended that " including but not limited to ".
As shown in Figure 1, the embodiment of the present invention includes supervision of ships devices 10 and management platform 20.Wherein, supervision of ships fills
It sets 10 to be fixedly connected on ship ontology, and is charged by power module 3 thereon.And it manages platform 20 and is then generally positioned at bank
On fishery superintendent office or frontier defense authorities.Ship mentioned here refers to the fishing boat without generating equipment, such as sampan etc..
Wherein, supervision of ships device 10 includes first processor 1, second processor 2, power module 3,4 and of sensing module
Communication module 5 is electrically connected between them.
First processor 1 belongs to low power processor, as shown in Fig. 2, in the present embodiment, using chip U6, particular type
Number be NRF51822.Second processor 2 belongs to high-performance processor, and power consumption is less than first processor 1, as shown in figure 3, at this
In embodiment, using chip U1, concrete model STM32F107VCT6.
First processor 1 is powered to second processor 2 by control power module 3 to wake up second processor 2.Specifically
Circuit is as shown in Figure 4.In Fig. 4, the 41st pin of first processor 1 issues control signal CPU_3V3_EN, the control signal
A chip U4 for controlling power module 3 is enabled, and the concrete model of chip U4 is RT8008.In chip U4 work, electricity
Pond power supply VBAT is converted to the power supply CPU_3V3 to work for second processor 2.In this way, first processor 1 is called out
Awake second processor 2.
First processor 1 and sensing module 4 are electrically connected, and heat transfer agent and the judgement for handling the transmission of sensing module 4 are
No to meet specified conditions, in the present embodiment, the sensing module 4 uses six axle sensors, wherein three axis add as gravity
It is static not to be based on hull with real-time measurement by the way that the three axle Gravity accelerometers are fixed on hull for velocity sensor
Three axis gravity acceleration value three axle Gravity accelerometers under the orthogonal three-axis reference become are to static not based on hull
The three axis gravity that the value and hull of three axis acceleration of gravity under the orthogonal three-axis reference become are at a normal level under state add
Velocity amplitude.Specified conditions mentioned here refer to that continuously occurring three axis gravity acceleration values within the period of artificial settings is closed
At output vector and hull normal level state under three axis gravity acceleration values synthesized by angle between reference vector be
It is no to be greater than or equal to setting value.Fig. 5 shows the circuit diagram of sensing module 4, wherein the metrical information of three axis gravity sensors is
Signal SDA_6A is sent to first processor 1 by No. 6 pins of the chip U9 (concrete signal FX0S8700CQ) of sensing module 4
The 7th pin.
Second processor 2 and communication module 5 are electrically connected, for going back to management 20 reporting orientation information of platform or alarm
Instruction and execution by 5 reception pipe platform 20 of communication module.As shown in fig. 6, communication module 5 passes through GPRS communication chip
CM180, the 55th, 56,59,58 and 54 that the pin of the 11st, 12,13,14 and 16 of communication chip connects second processor 2 respectively are managed
Foot, to realize second processor 2 and manage the information mutual communication of platform 20.
In the present invention, the alarm method that ship topples is the three axle Gravity accelerometers by being fixed on hull
Real-time measurement is based on three axis gravity acceleration values under the static constant orthogonal three-axis reference of hull, the first processor
1 measures during artificial settings and stores the three axis gravity acceleration values, and to the gravity acceleration value of each axis
It is filtered, obtains the acceleration of gravity output valve of the axis, then convert orthogonal three axis for the acceleration of gravity output valve of three axis
Output vector under coordinate system；Wherein, specific step is as follows for filtering algorithm:
Step 1: calculating the mean value of measured K subgravity acceleration from a certain axis directionWith measurement variance MCn；
Step 2: estimate variance EC is calculated, formula is as follows:
ECn=(1-KGn-1)ECn-1+rand
Wherein, ECn is this estimate variance, KGn-1For last kalman gain, ECn-1For last estimation
Variance, rand are random number；
Step 3: kalman gain KG is calculated, formula is as follows:
Wherein, KGn is this kalman gain, and ECn is this estimate variance, and MCn is this measurement variance；
Step 4: estimated value EV is calculated, formula is as follows:
EVn=OVn-1+KGn(MVn-OVn-1)
Wherein, EVnFor this estimated value, OVn-1For the output valve of last time measurement, MVnFor this measured value；
Step 5: output valve is calculated, formula is as follows:
OVn=A*EVn+(1-A)*OVn-1
Wherein, OVn is this output valve, and A is the filter factor of first-order filtering；
In initial calculation, the initial value of estimate variance EC is random number rand, and the specific value range of the random number is
The mean value of nearest K measured value10%；The initial value of estimated value EV and output valve OV are that hull is at a normal level
Three axis gravity acceleration values under state.
Further, after above-mentioned filtering, when between the modulus value of the output vector and the modulus value of reference vector
When error is greater than or equal to 10%, then it is considered as output vector synthesized by three axis gravity acceleration values and is at a normal level with hull
The case where angle between reference vector synthesized by three axis gravity acceleration values under state is less than setting value；Such as it is being manually set
Period in continuously occur output vector synthesized by three axis gravity acceleration values angle be greater than or equal to setting value feelings
Condition, then issue alarm of toppling by long-distance radio communication mode, and specific alarm mode is to wake up second by first processor 1
Processor 2, second processor 2 issue alarm signal of toppling to long-range by communication module 5.
The description of description above and embodiment is used to explain the present invention protection scope, but does not constitute and protect to the present invention
Protect the restriction of range.Through the invention or the enlightenment of above-described embodiment, those of ordinary skill in the art combine common knowledge, ability
The ordinary technical knowledge and/or the prior art in domain, it is available right by logical analysis, reasoning or limited test
Modification, equivalent replacement or the other improvements of the embodiment of the present invention or in which a part of technical characteristic, should be included in of the invention
Within protection scope.
Claims (3)
1. a kind of alarm method that ship topples, it is characterised in that: real by the gravity accelerometer being fixed on hull
When measurement based on three axis gravity acceleration values under the static constant orthogonal three-axis reference of hull, such as in the time of artificial settings
Continuously occur the three axis weights that output vector synthesized by three axis gravity acceleration values is at a normal level under state with hull in section
Angle between reference vector synthesized by power acceleration value is greater than or equal to setting value, then is issued by long-distance radio communication mode
It topples alarm.
2. a kind of alarm method that ship topples as described in claim 1, it is characterised in that: when the modulus value of the output vector
When error between the modulus value of reference vector is greater than or equal to 10%, then it is considered as output synthesized by three axis gravity acceleration values
Angle between reference vector synthesized by the three axis gravity acceleration values that vector and hull are at a normal level under state, which is less than, to be set
The case where definite value.
3. a kind of alarm method that ship topples as claimed in claim 1 or 2, it is characterised in that: every the phase of artificial settings
Between measure and three axis gravity acceleration values that storage is described, and the gravity acceleration value of each axis is filtered in the following manner
Wave obtains the acceleration of gravity output valve of the axis, then converts orthogonal three axis for the acceleration of gravity output valve of three axis and sit
Output vector under mark system, the specific steps are as follows:
Step 1: calculating the mean value of measured K subgravity acceleration from a certain axis directionWith measurement variance MCn；
Step 2: estimate variance EC is calculated, formula is as follows:
ECn=(1-KGn-1)ECn-1+rand
Wherein, ECnFor this estimate variance, KGn-1For last kalman gain, ECn-1For last estimate variance,
Rand is random number；
Step 3: kalman gain KG is calculated, formula is as follows:
Wherein, KGnFor this kalman gain, ECnFor this estimate variance, MCnFor this measurement variance；
Step 4: estimated value EV is calculated, formula is as follows:
EVn=OVn-1+KGn(MVn-OVn-1)
Wherein, EVnFor this estimated value, OVn-1For the output valve of last time measurement, MVnFor this measured value；
Step 5: output valve is calculated, formula is as follows:
OVn=A*EVn+(1-A)*OVn-1
Wherein, OVnFor this acceleration of gravity output valve, A is the filter factor of first-order filtering；
In initial calculation, the initial value of estimate variance EC is random number rand, and the specific value range of the random number is 0 to most
The mean value of nearly K measured value10%；The initial value of estimated value EV and output valve OV are that hull is at a normal level shape
Three axis gravity acceleration values under state.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810903040.5A CN108986433B (en) | 2018-08-09 | 2018-08-09 | Ship overturning warning method |
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|---|---|---|---|
| CN201810903040.5A CN108986433B (en) | 2018-08-09 | 2018-08-09 | Ship overturning warning method |
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| CN108986433B CN108986433B (en) | 2020-06-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110926496A (en) * | 2018-12-14 | 2020-03-27 | 青岛中海潮科技有限公司 | Method, device and system for detecting motion abnormity of underwater vehicle |
| CN111678494A (en) * | 2020-05-27 | 2020-09-18 | 国网天津市电力公司 | Tower inclination state monitoring device and monitoring method thereof |
| CN111736209A (en) * | 2019-03-25 | 2020-10-02 | 中国石油天然气集团有限公司 | Vibroseis vehicle vibrator flat plate and vehicle body interference early warning method and device |
| CN113545765A (en) * | 2021-07-16 | 2021-10-26 | 厦门硅田系统工程有限公司 | Heart rate continuous output method of heart rate measuring device and heart rate measuring device |
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