CN109596119A - Ship craft integrated PNT system and its monitoring method based on adaptive information fusion - Google Patents
Ship craft integrated PNT system and its monitoring method based on adaptive information fusion Download PDFInfo
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- CN109596119A CN109596119A CN201811407325.6A CN201811407325A CN109596119A CN 109596119 A CN109596119 A CN 109596119A CN 201811407325 A CN201811407325 A CN 201811407325A CN 109596119 A CN109596119 A CN 109596119A
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- 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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
Abstract
The present invention relates to a kind of ship craft integrated PNT systems based on adaptive information fusion, its technical characterstic is: including PNT sensor unit, data acquisition unit, information fusion unit and sea chart navigation elements, the PNT sensor unit is connected with data acquisition unit, for obtaining ship's fix, navigation and time service PNT information；The data acquisition unit is connected with information fusion unit, for export after integrating to information fusion unit the ship PNT information of acquisition；The information fusion unit is connected with sea chart navigation elements, for sensor raw data pretreatment, the adaptive fusion of multi-scheme switching and fault detection, Fault Isolation and system reconfiguration；The sea chart navigation elements are for realizing ship-handlings auxiliary such as ship positioning navigation, flight course planning and navigation monitoring.The present invention be capable of providing high-precision and steady PNT information and other lead navigation supported information, meet ship's navigation demand, improve navigation safety guarantee.
Description
Technical field
The invention belongs to marine navigation technical fields, are related to ship craft integrated PNT system, especially a kind of based on adaptive letter
Cease the ship craft integrated PNT system and its monitoring method of fusion.
Background technique
As global economy trade contacts are increasingly frequent, vessel traffic density is increasing, more and more electromagnetism frequencies
Rate malice and unintentionally interference, in addition the problem of other environment challenges (low visibility, ionospheric scintillation) and geographic factor cause, hands over
Logical environment is increasingly sophisticated, and collision prevention and grounding accident frequently occur.Demand in ship's navigation to high-precision PNT information increasingly increases
By force, however there is currently system in ship's fix, navigation and time service (PNT, Position, Navigation and
Timing) information shows the imperfection of inaccuracy and information, seriously constrains the development of vessel traffic transport field.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, propose a kind of reasonable, the reliable and stable and fault-tolerance of design
The strong ship craft integrated PNT system and its monitoring method based on adaptive information fusion.
The present invention solves its realistic problem and adopts the following technical solutions to achieve:
A kind of ship craft integrated PNT system based on adaptive information fusion, including the acquisition of PNT sensor unit, data are single
Member, information fusion unit and sea chart navigation elements, the PNT sensor unit is connected with data acquisition unit, for obtaining
Ship's fix, navigation and time service PNT information；
The data acquisition unit is connected with information fusion unit, for integrating the ship PNT information of acquisition
After export to information fusion unit；
The information fusion unit is connected with sea chart navigation elements, for pre-processing to sensor raw data, in many ways
The adaptive fusion of case switching and fault detection, Fault Isolation and system reconfiguration；
The sea chart navigation elements are auxiliary for realizing ship-handlings such as ship positioning navigation, flight course planning and navigation monitoring
It helps.
Moreover, the PNT sensor unit includes that BDS Beidou Navigation System, GPS geo-location system, compass, inertia are led
Boat system, tachometer, radar, AIS ship oceangoing ship automatic recognition system and atmospherium, can for integrating that all sensors from ship obtain
PVT data, N data and sensor obtains available initial data from ship；The PNT sensor unit passes through network
Or serial ports is connected with data acquisition unit.
Moreover, the data acquisition unit uses data integration and correlating method, object-oriented and the physics based on equation
Modeling language, Unified Form describe more study of phenomenon PNT data, and it is abstract to carry out analysis to the structural features of different phenomenon PNT
And unified Modeling, and then realize to BDS, GPS, compass, inertial navigation system, the one of the PNT information of tachometer, radar, AIS
Change integrated.
Moreover, the adaptive fusion of multi-scheme switching of the information fusion unit is to realize to carry out similar, heterogeneous information
Effective integration；
Moreover, the fault detection of the information fusion unit is the synthesis suitable for decentralized estimation and parallel filtering structure
Fault diagnosis, method are to be merged federal theory, Distributed filtering, adaptive and its intelligence based on Kalman filtering and calculated
The mode of method is realized；
Moreover, the Fault Isolation of the information fusion unit and the method for system reconfiguration are: by real-time monitoring GNSS, nothing
The various PNT signals such as line electricity navigation system are determined the interference that signal distributes near real-time, are described it based on risk assessment
Integrity feature, identifies faulty equipment in time, it is isolated with normal device, realizes and failure subsystem is isolated, use is remaining
Normal subsystem continues to complete navigation task, and remaining normal subsystem is reconstructed with optimal combination scheme.
Moreover, the sea chart navigation elements are using electronic chart as application platform, comprehensive geographic information, target information, the hydrology
The supplementary guiding informations such as meteorological and marine information using the data correlation of multi-source information, feature extraction, measure the technologies such as matching,
It is comprehensive PNT information processing and application platform with Electronic Chart System, realizes that collection comprehensive situation, integrated navigation, monitoring, alarming are more
The intelligent navigation auxiliary that function is integrated.
A kind of monitoring method of the ship craft integrated PNT system based on adaptive information fusion, includes the following steps:
Step 1, verify system location information, by using GNSS RAIM function and ship equipment measure bow to and speed
Degree carries out dead reckoning and is comprehensively compared；
Step 2 compares with bow to sensor, then compared with course over ground sensor；
Step 3, respectively with SOG sensor, STW sensor, GNSS obtain speed be compared；
Step 4 is compared with another timer and internal system clock respectively；
Step 5 is compared compared with depth transducer, then with the depth of vessel position position corresponding with electronic chart
Compared with.
The advantages of the present invention:
1, the present invention bases oneself upon e- navigation (e-Navigaiton) strategic framework, propose it is a kind of based on adaptive information fusion
Ship craft integrated PNT system.The present invention has the ship craft integrated PNT function of multi-scheme switching, complementary using various sensor informations,
Redundancy and its mutual organic connections carry out integrated treatment to the information of multisensor, improve the location navigation essence of system
Degree and reliability.
2, the present invention carries out the integrity, reliability, accuracy of PNT information using fault diagnosis and monitoring, alarming technology
Real-time monitoring.And the position and hydrometeorology information of GIS-Geographic Information System (GIS) this ship of Integration ofTechnology and its surrounding objects are utilized,
All related situation are carried out fusion treatment, integrated navigation and traffic situation information are finally supplied to crewman, to improve ship
Safe navigation, guarantee PNT information accuracy and integrality.
3, the present invention is based on the ship craft integrated PNT systems of adaptive information fusion to design multi-source using more phenome-nology theories
PNT sensor body system structure supports the multiplicity of PNT information source and information path.And multi-scheme handover information merges function in system
Online adaptive estimation can be carried out to each subsystem according to fault diagnosis and weight assessment, automatically form optimum combination side
Case effectively increases the precision, integrity and reliability of system, solve there is currently system in ship's fix, navigate and award
When information the problem of showing the imperfection of inaccuracy and information.Furthermore the system have stronger adaptability and flexibly
Property, it can adapt to different condition and application, there is important engineering practical value.
4, operation of the present invention is convenient, be capable of providing high-precision and steady PNT information and other lead navigation supported information, meet ship
Navigation demand improves navigation safety guarantee.
Detailed description of the invention
Fig. 1 is system construction drawing of the invention；
Fig. 2 is PNT data input/output relation schematic diagram of the invention.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing:
It is a kind of based on the ship craft integrated PNT system adaptively merged, it is therefore intended that solve there is currently system in ship
Positioning, navigation and time service (PNT, Position, Navigation and Timing) information show inaccuracy and information
The problem of imperfection, provides navigation safety guarantee.
A kind of ship craft integrated PNT system based on adaptive information fusion, including the acquisition of PNT sensor unit, data are single
Member, information fusion unit, sea chart navigation elements constitute highly reliable fault-tolerant comprehensive PNT system, for for ship provide it is accurate,
Reliable locating navigation information.
(1) the PNT sensor unit is for obtaining ship's fix, navigation and time service (PNT) information；
In the present embodiment, the PNT sensor unit includes more study of phenomenon (such as inertia, radio, machinery type)
PNT sensor, including BDS (Beidou Navigation System), GPS (global positioning system), compass, inertial navigation system, tachometer, thunder
It reaches, a variety of PNT sensors such as AIS (ship automatic identification system), atmospherium, it can for integrating that all sensors from ship obtain
PVT (positioning, speed and time service) and N (navigation) data, and sensor obtains available initial data from ship, to mention
For optimal PNT output data, the sensor is connected by network or serial ports with data acquisition unit.
(2) data acquisition unit is used for ship PNT information collection；
In the present embodiment, the data acquisition unit is using data integration and correlating method, object-oriented and based on side
The physical modeling language of journey, Unified Form describes more study of phenomenon (such as inertia, radio, machinery type) PNT data, to difference
The structural features of phenomenon PNT carry out analyzing abstract and unified Modeling, design PNT system top level architectural framework, support PNT letter
The diversity of breath source and information path, and then realize to the integrated of multi-source PNT information.
Specifically, the PNT such as integrated BDS, GPS, compass, inertial navigation system, tachometer, radar, AIS believe
Breath, and data information is input to information fusion unit.
(3) information fusion unit carries out weight to data for sensor raw data pretreatment, with more handover schemes
Structure and data assessment；
In the present embodiment, the information fusion unit has pre-processing sensor initial data, subsystem processes, multi-party
The adaptive fusion of case switching, the functions such as data assessment and fault detection, Fault Isolation and system reconfiguration.
The fusion of multi-scheme handover information, which is realized, carries out effective integration to multi-source (similar, foreign peoples) information.
Data assessment is to carry out integrality, the overall merit of accuracy to the result of different integration programs, is tied according to assessment
Fruit selects optimum fusion scheme.
Fault detection is the resultant fault diagnosis suitable for decentralized estimation and parallel filtering structure, with Kalman filtering
Based on, it merges federal theory, Distributed filtering, adaptive and its intelligent algorithm mode and realizes.
Fault isolation and reconfiguration is commented by the various PNT signals such as real-time monitoring GNSS, radio navigation system with risk
Based on estimating, determine the interference that signal distributes near real-time, describe its integrity feature, identify faulty equipment in time, by its with
Normal device isolation is realized and failure subsystem is isolated, continues to complete navigation task with remaining normal subsystem, and with best
Remaining normal subsystem is reconstructed in assembled scheme, it is ensured that continues to provide steady PNT information service.
In addition, the information fusion unit can not only provide optimal PNT output data, and provides and be based on Accuracy extimate
Integrity information, and then improve by integrity monitoring function the robustness of comprehensive PNT system information.
System data integrity monitoring step is as follows:
Step 1, verify system location information, by using GNSS RAIM function and ship equipment measure bow to and speed
Degree carries out dead reckoning and is comprehensively compared；
Step 2 compares with bow to sensor, then compared with course over ground sensor；
Step 3, respectively with SOG (ground speed) sensor, STW (speed through water) sensor, GNSS obtain speed into
Row compares；
Step 4 is compared with another timer and internal system clock respectively；
Step 5 is compared compared with depth transducer, then with the depth of vessel position position corresponding with electronic chart
Compared with.
(4) the sea chart navigation elements are for ship-handlings auxiliary such as ship positioning navigation, flight course planning and navigation monitoring.
In the present embodiment, the sea chart navigation elements comprehensively consider spatiotemporal PNT system information, various dimensions, isomery
Property etc. features, under the comprehensive PNT information frame such as integrated marine environment, hydrometeorology, navigation channel, target information, with electronic chart
For application platform, the supplementary guiding informations such as comprehensive geographic information, target information, hydrometeorology and marine information are believed using multi-source
The technologies such as data correlation, feature extraction, the measurement matching of breath are that comprehensive PNT information processing and application are flat with Electronic Chart System
Platform is realized and integrates the multi-functional intelligent navigation auxiliary system such as comprehensive situation, integrated navigation, monitoring, alarming.System is provided
One, accurate, integrity locating navigation information service.
PNT data input/output relation is as shown in Fig. 2, integrated receiver module is used to integrate and be associated with PNT information, a side
Face carries out the reception of PNT information by LF/MF, VHF receiver (R-Mode) and UHF receiver (GNSS), on the other hand foundation
Demand selectively accesses the information of boat-carrying PNT sensor input by serial ports.
Data assessment and data memory module, to the data sum aggregate of AIS, compass, inertial navigation, sounding instrument from serial ports
Integrity assessment is carried out at the PNT of receiver module input, and to the integrity of receiver module feedback data, while according to number
According to integrity sensor module is controlled.It, will be optimal simultaneously according to integrity feedback adjustment switch data fusion method
Data are sent to ECDIS, Conning, autopilot unit under data output scheme, give corresponding data and show, support simultaneously
User's interaction.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore the present invention includes
It is not limited to embodiment described in specific embodiment, it is all to be obtained according to the technique and scheme of the present invention by those skilled in the art
Other embodiments, also belong to the scope of protection of the invention.
Claims (8)
1. a kind of ship craft integrated PNT system based on adaptive information fusion, it is characterised in that: including PNT sensor unit, number
According to acquisition unit, information fusion unit and sea chart navigation elements, the PNT sensor unit is connected with data acquisition unit,
For obtaining ship's fix, navigation and time service PNT information；
The data acquisition unit is connected with information fusion unit, integrated rear defeated for carrying out the ship PNT information of acquisition
Out to information fusion unit；
The information fusion unit is connected with sea chart navigation elements, and for pre-processing to sensor raw data, multi-scheme is cut
Change adaptive fusion and fault detection, Fault Isolation and system reconfiguration；
The sea chart navigation elements are for realizing ship-handlings auxiliary such as ship positioning navigation, flight course planning and navigation monitoring.
2. a kind of ship craft integrated PNT system based on adaptive information fusion according to claim 1, it is characterised in that:
The PNT sensor unit includes BDS Beidou Navigation System, GPS geo-location system, compass, inertial navigation system, has the records of distance by the log
Instrument, radar, AIS ship oceangoing ship automatic recognition system and atmospherium obtain available PVT number for integrating all sensors from ship
Sensor obtains available initial data according to, N data and from ship；The PNT sensor unit by network or serial ports with
Data acquisition unit is connected.
3. a kind of ship craft integrated PNT system based on adaptive information fusion according to claim 1, it is characterised in that:
The data acquisition unit uses data integration and correlating method, object-oriented and the physical modeling language based on equation, unified
Form describes more study of phenomenon PNT data, carries out analyzing abstract and unified Modeling to the structural features of different phenomenon PNT, into
And realize to BDS, GPS, compass, inertial navigation system, the PNT information of tachometer, radar, AIS it is integrated.
4. a kind of ship craft integrated PNT system based on adaptive information fusion according to claim 1, it is characterised in that:
The adaptive fusion of multi-scheme switching of the information fusion unit is to realize to carry out effective integration to similar, heterogeneous information.
5. a kind of ship craft integrated PNT system based on adaptive information fusion according to claim 1, it is characterised in that:
The fault detection of the information fusion unit is the resultant fault diagnosis suitable for decentralized estimation and parallel filtering structure, side
Method is to be merged federal theory, Distributed filtering, adaptive and its intelligent algorithm mode based on Kalman filtering and realized.
6. a kind of ship craft integrated PNT system based on adaptive information fusion according to claim 1, it is characterised in that:
The Fault Isolation of the information fusion unit and the method for system reconfiguration are: by real-time monitoring GNSS, radio navigation system
Etc. various PNT signals, based on risk assessment, the interference that signal distributes near real-time is determined, describe its integrity feature, and
When identify faulty equipment, it is isolated with normal device, realize will failure subsystem isolation, continued with remaining normal subsystem
Navigation task is completed, and remaining normal subsystem is reconstructed with optimal combination scheme.
7. a kind of ship craft integrated PNT system based on adaptive information fusion according to claim 1, it is characterised in that:
The sea chart navigation elements are using electronic chart as application platform, comprehensive geographic information, target information, hydrometeorology and marine information
Equal supplementary guiding informations, using technologies such as the data correlation of multi-source information, feature extraction, measurement matchings, with Electronic Chart System
For comprehensive PNT information processing and application platform, realizes and integrate the multi-functional intelligence of comprehensive situation, integrated navigation, monitoring, alarming
Energyization navigation auxiliary.
8. a kind of ship craft integrated PNT system based on adaptive information fusion as described in claim 1 to 7 any claim
Monitoring method, characterized by the following steps:
Step 1, verify system location information, by using GNSS RAIM function and ship equipment measure bow to speed into
Row dead reckoning is comprehensively compared；
Step 2 compares with bow to sensor, then compared with course over ground sensor；
Step 3, respectively with SOG sensor, STW sensor, GNSS obtain speed be compared；
Step 4 is compared with another timer and internal system clock respectively；
Step 5 is compared compared with depth transducer, then with the depth of vessel position position corresponding with electronic chart.
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| CN110411456A (en) * | 2019-08-23 | 2019-11-05 | 中国人民解放军陆军军事交通学院镇江校区 | A kind of navigation information integrated display system based on ship task |
| CN110515109A (en) * | 2019-08-16 | 2019-11-29 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of method and device merging the autonomous PNT time based on multiple information sources |
| CN112307026A (en) * | 2020-10-29 | 2021-02-02 | 广东海洋大学 | Method for establishing small ship navigation multi-source information real-time database |
| CN112379395A (en) * | 2020-11-24 | 2021-02-19 | 中国人民解放军海军工程大学 | Positioning navigation time service system |
| CN112788536A (en) * | 2020-12-28 | 2021-05-11 | 中国科学院空天信息创新研究院 | Workflow-based trusted PNT service data tracing method and device |
| CN113758489A (en) * | 2021-10-19 | 2021-12-07 | 中国电子科技集团公司第五十四研究所 | Navigation positioning method based on multi-source sensor elastic fusion |
| CN114786128A (en) * | 2022-06-20 | 2022-07-22 | 中国船舶重工集团公司第七0七研究所 | Ship inertial navigation transfer alignment self-adaptive switching method based on data quality control |
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| CN113758489B (en) * | 2021-10-19 | 2024-03-12 | 中国电子科技集团公司第五十四研究所 | Navigation positioning method based on multi-source sensor elastic fusion |
| CN115080903A (en) * | 2022-06-01 | 2022-09-20 | 中国船舶重工集团公司第七0七研究所九江分部 | Offshore multi-target multi-modal matching fusion method based on intelligent optimization algorithm |
| CN114786128B (en) * | 2022-06-20 | 2022-09-13 | 中国船舶重工集团公司第七0七研究所 | Ship inertial navigation transfer alignment self-adaptive switching method based on data quality control |
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Application publication date: 20190409 |