CN109164494B - Ship terminal removal alarm method based on ship terminal removal alarm system - Google Patents
Ship terminal removal alarm method based on ship terminal removal alarm system Download PDFInfo
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- CN109164494B CN109164494B CN201811278433.8A CN201811278433A CN109164494B CN 109164494 B CN109164494 B CN 109164494B CN 201811278433 A CN201811278433 A CN 201811278433A CN 109164494 B CN109164494 B CN 109164494B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
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- 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
- G08B25/10—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 wireless transmission systems
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Abstract
The invention discloses a ship terminal dismantling alarm system and a method, wherein the ship terminal dismantling alarm system comprises a management platform, a ship terminal and a permanent magnet, wherein the ship terminal and the permanent magnet are separately and fixedly connected to a ship body; a sensing module, a processing module and a communication module are arranged in the ship terminal; the method comprises the steps that the three-axis magnetic field intensity of a permanent magnet under an orthogonal three-axis coordinate system based on the static invariance of a ship body is measured in real time through a sensing module, and based on the three-axis magnetic field intensity, the three-axis output magnetic field intensity is obtained through filtering, if the output magnetic field intensity of any two axes continuously appears in a manually set time period and is smaller than the reference magnetic field intensity of the two axes of the permanent magnet when a ship terminal is initialized, a dismantling alarm is sent out in a remote wireless communication mode, and the ship terminal dismantling condition is monitored.
Description
Technical Field
The invention relates to the field of ship design and manufacture, in particular to a ship terminal dismantling warning method based on a ship terminal dismantling warning system.
Background
In order to remotely monitor the condition of a ship, a ship terminal is usually installed on the ship, but the risk of illegal dismantling is high, and once the equipment is dismantled, a remote platform cannot supervise the real-time condition of a ship body;
in the prior art, a magnet is usually added outside a ship terminal, and whether the ship terminal is detached is judged by detecting the change of a magnetic field through a magnetic sensor arranged inside the ship terminal;
however, the sea surface environment is complex and may be disturbed by the magnetic field of an external magnetic object at any time, and the direction of the geomagnetic field of the permanent magnet fixedly connected to the ship body is constantly changed along with the movement of the ship body, so that the ship terminal in the prior art is prone to misjudge and send out wrong alarm signals, and the remote platform cannot accurately know the real condition of the ship.
Disclosure of Invention
The invention aims to overcome the defects or problems in the background art and provides a ship terminal dismantling warning method based on a ship terminal dismantling warning system so as to monitor the dismantling condition of a ship terminal in real time.
In order to achieve the purpose, the invention adopts the following technical scheme:
the ship terminal dismantling alarm system comprises a management platform, a ship terminal and a permanent magnet, wherein the ship terminal and the permanent magnet are separately and fixedly connected to a ship body; a sensing module, a processing module and a communication module are arranged in the ship terminal; the sensing module is a three-axis magnetic sensor; the ship terminal dismantling warning method specifically comprises the following steps: the three-axis magnetic sensor measures the three-axis magnetic field intensity of the permanent magnet in real time based on an orthogonal three-axis coordinate system when the three-axis magnetic sensor is static relative to a ship body, forms three-axis magnetic field intensity information and sends the information to the processing module; the processing module stores the three-axis magnetic field strength every other artificial setting period, filters the magnetic field strength of each axis to obtain the magnetic field strength output value of each axis, and finally obtains the output magnetic field strength of three axes; if the output magnetic field intensity of any two shafts is continuously smaller than the reference magnetic field intensity of any two shafts corresponding to the permanent magnet when the ship terminal is initialized within a time period set by people, the communication module is controlled to send dismantling alarm information to the management platform in a remote wireless communication mode; wherein the magnetic field strength of each axis is filtered by:
step 1: calculating the mean value of the magnetic field intensity measured from any axial direction for K times
And measure the variance MCn；
Step 2: the estimated variance EC is calculated as follows:
ECn＝(1-KGn-1)ECn-1+rand
wherein, ECnIs an estimation of this timeVariance, KGn-1For the last Kalman gain, ECn-1For the last estimated variance, rand is a random number;
and step 3: calculating the Kalman gain KG, wherein the formula is as follows:
wherein, KGnFor the Kalman gain of this time, ECnFor this estimated variance, MCnThe variance of the current measurement;
and 4, step 4: the estimate EV is calculated by the following formula:
EVn＝OVn-1+KGn(MVn-OVn-1)
wherein, EVnFor the estimation of this time, OVn-1For the last measured output value, MVnIs the measured value of this time.
And 5: calculating an output value, the formula is as follows:
OVn＝A*EVn+(1-A)*OVn-1
wherein, OVnA is the filter coefficient of first-order filtering for the magnetic field intensity output value of this time;
during initial calculation, the initial value of the estimated variance EC is a random number rand, and the specific value range of the random number is the mean value of the magnetic field intensity of the latest K times
10% of; the initial values of the estimated value EV and the output value OV are the three-axis magnetic field strength values initialized by the ship terminal.
As can be seen from the above description of the present invention, the present invention has the following advantages over the prior art:
1. the three-axis magnetic field intensity information is processed through the processing module, and the communication module is controlled to send dismantling alarm information to the management platform in a remote wireless communication mode when the condition set by people is met, so that the ship terminal dismantling condition is monitored in real time.
2. Because the magnetic field changes in more than two directions are inevitably caused when the ship terminal is dismantled and are continuously smaller than the magnetic field strength when the ship terminal is initialized, the distance change between the magnetic sensor arranged in the ship terminal and the permanent magnet fixedly connected to the ship body can be judged by monitoring the change of the magnetic field strength in real time, if the output magnetic field strength in a period of time is smaller than the magnetic field strength when the ship terminal is initialized, the ship terminal is dismantled, and the device realizes the real-time monitoring on whether the ship terminal is dismantled.
3. The three-axis magnetic field strength is measured and stored every other period set manually, and the magnetic field strength of each axis is filtered, so that the output data is more accurate.
4. Compared with the prior art that only the method for detecting the change of the magnetic field by the magnetic sensor to judge whether the equipment is detached avoids temporary measurement errors caused by magnetic field interference of an external magnetic object, the method has the advantage that the distance between the magnetic sensor and the permanent magnet is more accurately measured and calculated by taking the output magnetic field intensity of any two shafts which continuously appear in the artificially set time period as the judgment standard whether the ship terminal is detached or not as the reference magnetic field intensity of the two shafts of the permanent magnet when the ship terminal is initialized.
5. The Kalman gain is improved to be in a root form in the step 3, and the timeliness of the system is improved by adopting the calculation method.
6. Using first order filtered OV in step 4n-1Rather than the value itself as feedback, the stability of the output data is increased by adopting the calculation method.
7. First order filtering is added in step 5 to make the output data more convergent.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of the embodiment of the present invention;
FIG. 2 is a second processor circuit schematic;
FIG. 3 is a schematic diagram of a wake-up circuit of a high performance processor;
FIG. 4 is a schematic diagram of a sensor circuit;
fig. 5 is a circuit diagram of a communication module.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are presently preferred embodiments of the invention and are not to be taken as an exclusion of other embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the claims, the description and drawings of the present invention, the terms "first," "second," or "third," etc. are used for distinguishing between different elements and not necessarily for describing a particular sequence.
In the claims, the specification and the drawings of the present invention, the terms "including", "having" and their variants, if used, are intended to be inclusive and not limiting.
As shown in fig. 1, the embodiment of the present invention includes a ship terminal 10 and a management platform 20. The ship terminal 10 is fixedly connected to the ship body, and a permanent magnet and the ship terminal are separately and fixedly connected to the ship body and charged through the power module 3 thereon. While the management platform 20 is typically located in a fishery surveillance or frontier facility onshore. The vessel referred to herein is a fishing vessel without a power generating facility, such as a sampan or the like.
The ship terminal 10 comprises a processing module, a power module 3, a sensing module 4 and a communication module 5 which are electrically connected with each other, wherein the processing module comprises a first processor 1 and a second processor 2.
The first processor 1 belongs to a low power consumption processor, the second processor 2 belongs to a high performance processor, and the power consumption of the processor is smaller than that of the first processor 1, as shown in fig. 2, in the present embodiment, a chip U1 is adopted, and the specific model is STM32F107VCT 6.
The first processor 1 wakes up the second processor 2 by controlling the power supply module 3 to supply power to the second processor 2. In a specific circuit, a 41 th pin of the first processor 1 sends out a control signal CPU _3V3_ EN, the control signal is used for controlling the power module 3, namely the chip U4, to switch between an operating state and a non-operating state, and the specific model of the chip U4 is RT 8008. When the chip U4 operates, the battery power VBAT is converted into the power CPU _3V3 for the second processor 2 to operate. In this way, the first processor 1 wakes up the second processor 2.
The first processor 1 is electrically connected with the sensing module 4 and is used for processing sensing information sent by the sensing module 4 and judging whether the sensing information meets specific conditions or not, in the embodiment, the sensing module 4 adopts a six-axis sensor, wherein three axes are used as magnetic sensors, and the three-axis magnetic sensor arranged in the ship terminal is used for measuring the three-axis magnetic field intensity of the permanent magnet in real time based on an orthogonal three-axis coordinate system with a static and unchangeable ship body. The specific condition is that the output magnetic field intensity of any two shafts continuously appearing in a time period set by people is smaller than the reference magnetic field intensity of the two shafts of the permanent magnet when the ship terminal is initialized. Fig. 4 shows a circuit diagram of the sensing module 4, wherein the measurement information of the three-axis magnetic sensor is the signal SDA _6A sent to the 7 th pin of the first processor 1 through the 6 th pin of the chip U9 (the specific signal FX0S8700CQ) of the sensing module 4.
The second processor 2 is electrically connected with the communication module 5 and is used for reporting positioning information or alarming to the management platform 20. As shown in fig. 5, the communication module 5 includes a GPRS communication chip CM180 including the 11 th, 12 th, 13 th, 14 th and 16 th pins. In a specific embodiment, the pins are respectively connected to the 55 th, 56 th, 59 th, 58 th and 54 th pins of the second processor 2, so as to implement information intercommunication between the second processor 2 and the management platform 20.
In the invention, the method for warning the removal of the ship terminal measures the three-axis magnetic field strength of a permanent magnet in an orthogonal three-axis coordinate system based on the static invariance of a ship body in real time through a three-axis magnetic sensor arranged in the ship terminal, the first processor 1 measures and stores the three-axis magnetic field strength every other period set manually, and filters the magnetic field strength of each axis in the following way to obtain the magnetic field strength output value of the axis, and the specific steps are as follows:
step 1: calculating the mean value of the magnetic field intensity measured from a certain axial direction K times
And measure the variance MCn；
Step 2: the estimated variance EC is calculated as follows:
ECn＝(1-KGn-1)ECn-1+rand
wherein, ECnFor this estimated variance, KGn-1For the last Kalman gain, ECn-1For the last estimated variance, rand is a random number;
and step 3: calculating the Kalman gain KG, wherein the formula is as follows:
wherein, KGnFor the Kalman gain of this time, ECnFor this estimated variance, MCnThe variance of the current measurement;
and 4, step 4: the estimate EV is calculated by the following formula:
EVn＝OVn-1+KGn(MVn-OVn-1)
wherein, EVnFor the estimation of this time, OVn-1For the last measured output value, MVnIs the measured value of this time;
and 5: calculating an output value, the formula is as follows:
OVn＝A*EVn+(1-A)*OVn-1
wherein, OVnFor the output value of the magnetic field intensity of this time, A is the filter of first-order filteringWave coefficient;
during initial calculation, the initial value of the estimated variance EC is a random number rand, and the specific value range of the random number is the mean value of the magnetic field intensity of the latest K times
10% of; the initial values of the estimated value EV and the output value OV are the three-axis magnetic field strength values initialized by the ship terminal.
Further, after the filtering, if the output magnetic field intensity of any two shafts is smaller than the reference magnetic field intensity of the two shafts of the permanent magnet when the ship terminal is initialized continuously in a manually set time period, a removal alarm is sent out in a remote wireless communication mode, wherein the specific alarm mode is that the first processor 1 wakes up the second processor 2, and the second processor 2 sends out an overturning alarm signal to a remote place through the communication module 5.
The description of the above specification and examples is intended to be illustrative of the scope of the present invention and is not intended to be limiting. Modifications, equivalents and other improvements which may occur to those skilled in the art and which may be made to the embodiments of the invention or portions thereof through a reasonable analysis, inference or limited experimentation, in light of the common general knowledge, the common general knowledge in the art and/or the prior art, are intended to be within the scope of the invention.
Claims (1)
1. A ship terminal dismantling alarm method based on a ship terminal dismantling alarm system is characterized in that: the ship terminal dismantling alarm system comprises a management platform, a ship terminal and a permanent magnet, wherein the ship terminal and the permanent magnet are fixedly connected to a ship body in a separated mode; a sensing module, a processing module and a communication module are arranged in the ship terminal; the sensing module is a three-axis magnetic sensor; the ship terminal dismantling warning method specifically comprises the following steps: the three-axis magnetic sensor measures the three-axis magnetic field intensity of the permanent magnet in real time based on an orthogonal three-axis coordinate system when the three-axis magnetic sensor is static relative to a ship body, forms three-axis magnetic field intensity information and sends the information to the processing module; the processing module stores the three-axis magnetic field strength every other artificial setting period, filters the magnetic field strength of each axis to obtain the magnetic field strength output value of each axis, and finally obtains the output magnetic field strength of three axes; if the output magnetic field intensity of any two shafts is continuously smaller than the reference magnetic field intensity of any two shafts corresponding to the permanent magnet when the ship terminal is initialized within a time period set by people, the communication module is controlled to send dismantling alarm information to the management platform in a remote wireless communication mode; wherein the magnetic field strength of each axis is filtered by:
step 1: calculating the mean value of the magnetic field intensity measured from any axial direction for K times
And measure the variance MCn；
Step 2: the estimated variance EC is calculated as follows:
ECn＝(1-KGn-1)ECn-1+rand
wherein, ECnFor this estimated variance, KGn-1For the last Kalman gain, ECn-1For the last estimated variance, rand is a random number;
and step 3: calculating the Kalman gain KG, wherein the formula is as follows:
wherein, KGnFor the Kalman gain of this time, ECnFor this estimated variance, MCnThe variance of the current measurement;
and 4, step 4: the estimate EV is calculated by the following formula:
EVn＝OVn-1+KGn(MVn-OVn-1)
wherein, EVnFor the estimation of this time, OVn-1For the last measured output value, MVnIs the measured value of this time;
and 5: calculating an output value, the formula is as follows:
OVn＝A*EVn+(1-A)*OVn-1
wherein, OVnA is the filter coefficient of first-order filtering for the magnetic field intensity output value of this time;
during initial calculation, the initial value of the estimated variance EC is a random number rand, and the specific value range of the random number is the mean value of the magnetic field intensity of the latest K times
10% of; the initial values of the estimated value EV and the output value OV are the three-axis magnetic field strength values initialized by the ship terminal.
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| CN101704446A (en) * | 2008-08-04 | 2010-05-12 | 维扬斯科技公司 | Sensor system for a conveyor belt |
| CN201820343U (en) * | 2010-10-20 | 2011-05-04 | 悉雅特楼宇自控(杭州)有限公司 | Anti-dismantling detection device for alarm device |
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