CN109949615A - A kind of low speed of a ship or plane early warning detection system of ship and method - Google Patents
A kind of low speed of a ship or plane early warning detection system of ship and method Download PDFInfo
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Abstract
A kind of low speed of a ship or plane early warning detection system of ship and method, the system include high-precision low speed radar module, digital sampling and processing, speed of a ship or plane warning module, dispatching communication module；The high-precision low speed radar module is connect with digital sampling and processing, original velocity value is returned to digital sampling and processing by high-precision low speed radar module, and the angle command of digital sampling and processing is received, start electric platform, adjusts high-precision low speed radar module angle.The digital sampling and processing is connect with speed of a ship or plane warning module, dispatching communication module respectively, and dispatching communication module connects control centre.The present invention uses high-precision low speed radar, and the low navigational speed information of real-time measurement ship solves the problems, such as the low speed of a ship or plane detection in navigation channel entirely in the navigations such as ship lift building.The present invention judges and corrects mistake measured value C when crewman walks about by linear fit algorithm, improve the accuracy of detection system.
Description
Technical field
The present invention relates to ships to pass in and out ship lift early warning detection technique field, the low speed of a ship or plane early warning detection of specifically a kind of ship
System and method.
Background technique
With the rapid development of the national economy, development of inland waterway transportation is rapid, the development & construction in power station substantially improve interior
River shipping condition, shipping market increase swift and violent.Because of the regulation of power station navigation structure such as ship lift etc., to disengaging ship lift etc.
The ship speed in navigation structure has a strict requirements, but the prior art in the actually detected speed of a ship or plane because of ship reception chamber, ship
The factors such as upper personnel's walking are easy to appear data bounce, accidentally survey phenomenon, cause measurement data inaccurate.Therefore a kind of energy is designed
Enough systems for effectively, accurately detecting the low speed of a ship or plane of ship, and one of the effective means as the control ship disengaging compartment speed of a ship or plane.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of low speed of a ship or plane early warning detection system of ship and method, using height
Precision low speed radar, the low navigational speed information of real-time measurement ship solve the low speed of a ship or plane detection in navigation channel entirely in the navigations such as ship lift building
The problem of.The present invention judges and corrects mistake measured value C when crewman walks about by linear fit algorithm, improve detection system
Accuracy.
The technical scheme adopted by the invention is as follows:
A kind of low speed of a ship or plane early warning detection system of ship, including high-precision low speed radar module, digital sampling and processing, boat
Fast warning module, dispatching communication module；
The high-precision low speed radar module is connect with digital sampling and processing, and high-precision low speed radar module will be original
Velocity amplitude returns to digital sampling and processing, and receives the angle command of digital sampling and processing, starts electric platform, adjusts
The measurement angle of whole high-precision low speed radar module.
The digital sampling and processing is connect with speed of a ship or plane warning module, dispatching communication module respectively, dispatching communication module
It is connected to control centre.
The revised velocity amplitude of acquisition processing module, progress ship hypervelocity judge simultaneously speed of a ship or plane warning module for receiving data
Real-time display, to remind the real-time speed of a ship or plane of deck officer's ship；
Dispatching communication module is used to receive the set angle angle value and navigation instruction of control centre, is transferred to data acquisition process
Module, so that digital sampling and processing carries out the enabled and hang-up movement of entire detection system.
The system further includes the first two-sided display screen for being mounted on ship booster supporting compartment upstream and downstream position, second two-sided aobvious
Display screen, first and second two-sided display screen are all connected with digital sampling and processing.
A kind of low speed of a ship or plane early-warning detection method of ship,
Control centre provides measurement angle by the detection device being mounted on ship lift, and measurement angle value G is transmitted
Dispatching communication module is given, measurement angle value G is transferred to digital sampling and processing, data acquisition process by dispatching communication module
Measurement angle value G is converted to control instruction by module, and control holder adjusts measurement angle；
Dispatching communication module receives the instruction of control centre's Real-Time Scheduling automatically, when the scheduling for receiving ship disengaging ship lift
When instruction, notification data acquisition processing module sends enable signal by digital sampling and processing, enables high-precision low speed radar
Module, while digital sampling and processing starts the velocity information for acquiring measurement in real time, and combines the angle value G of record, in real time
Velocity amplitude S of the ship on its course is corrected, a series of accidentally method of determining and calculating judgements are carried out to each group of real-time speed value S；If it is
Accidentally measured value then corrects the mistake measured value C of crewman's walking by linear fit algorithm；When the tune for receiving ship disengaging ship lift completion
When degree instruction, notification data acquisition processing module enters waiting suspended state by digital sampling and processing control system；
The calculated velocity amplitude S of speed of a ship or plane warning module real-time reception digital sampling and processing, and carry out judging current speed
Whether angle value S is greater than the velocity amplitude L of control centre's restriction, if current speed value S is less than the velocity amplitude L that control centre limits,
Then it will be shown on two-sided display screen, the current shipping sail speed of deck officer is informed；If current speed value S be greater than etc.
In real-time display current speed value S on the velocity amplitude L that control centre limits, two-sided display screen, while will be shown on two-sided display screen
Show hypervelocity printed words, reminds the current ship of deck officer to exceed the speed limit and answer low steaming.
The calculated velocity amplitude S of dispatching communication module real-time reception digital sampling and processing is simultaneously uploaded to control centre,
If current speed value S is more than or equal to the velocity amplitude L that control centre limits, control centre will be reminded, led to again by control centre
Know, deck officer is reminded to need Reduced Speed Now.
A kind of low speed of a ship or plane early warning detection system of ship of the present invention and method, technical effect are as follows:
1: having wide scope velocity-measuring system: by electric platform and high precision speed-measuring radar complex, solving fixed peace
The limited problem of measurement range is filled, system suitability is improved.
2: using high-precision low speed radar, the low navigational speed information of real-time measurement ship solves in the navigations such as ship lift building
The problem of low speed of a ship or plane in navigation channel detects entirely.
3: the present invention judges and corrects mistake measured value C when crewman walks about by linear fit algorithm, improve detection system
Accuracy.
Detailed description of the invention
Fig. 1 is the scheme of installation that a kind of low speed of a ship or plane of ship detects early warning system.
Fig. 2 is the structural schematic diagram that a kind of low speed of a ship or plane of ship detects early warning system.
Fig. 3 is the work flow diagram that a kind of low speed of a ship or plane of ship detects early warning system.
Fig. 4 is the flow chart of data processing figure that a kind of low speed of a ship or plane of ship detects early warning system.
Wherein: 1- high-precision low speed radar module, 2- digital sampling and processing, 3- speed of a ship or plane warning module, 4- scheduling are logical
Believe module, the control centre 5-, 6- is tested ship, 7- ship booster supporting compartment, the first two-sided display screen of 8-, 8 '-the second double-sided displays
Screen.
Specific embodiment
A kind of low speed of a ship or plane early warning detection system of ship, including high-precision low speed radar module 1, digital sampling and processing 2,
Speed of a ship or plane warning module 3, dispatching communication module 4.
The high-precision low speed radar module 1 is connect with digital sampling and processing 2, and high-precision low speed radar module 1 will
Original velocity value returns to digital sampling and processing 2, and receives the angle command of digital sampling and processing 2, starts electronic
Holder adjusts 1 angle of high-precision low speed radar module；
The digital sampling and processing 2 is connect with speed of a ship or plane warning module 3, dispatching communication module 4 respectively, dispatching communication mould
Block 4 connects control centre 5；
The revised velocity amplitude of acquisition processing module 2, progress ship hypervelocity judge speed of a ship or plane warning module 3 for receiving data
And real-time display, to remind the real-time speed of a ship or plane of deck officer's ship；
Dispatching communication module 4 is used to receive the set angle angle value and navigation instruction of control centre 5, is transferred at data acquisition
Module 2 is managed, so that digital sampling and processing 2 carries out the enabled and hang-up movement of entire detection system.
The system further include be mounted on 7 upstream and downstream position of ship booster supporting compartment the first two-sided display screen 8, second it is two-sided
Display screen 8 ', first and second two-sided display screen are all connected with digital sampling and processing 2.
The digital sampling and processing 2 connects cradle head control module.
High-precision low speed radar module 1 is mounted on electric platform, and using integrated radar machine, it is to be based on
The ranging of testing the speed of continuous wave is basic principle, emits ultrasonic wave to navigation channel at an angle, amplifies, filters to echo-signal
Wave, shaping, threshold decision, frequency obtain the frequency information of echo after calculating, and calculate ship according to the Doppler effect of ultrasonic wave
The speed of a ship or plane and distance of oceangoing ship.Integrated radar velocity measurement range unit largely uses MMIC (Monolithic Microwave
Integrated Circuit, monolithic integrated microwave circuit) integrated chip, and low-power chip is selected to realize the small-sized of system
Change, low-power consumption；Radar antenna uses micro-strip flat plane antenna simultaneously, and realization significantly reduces radar volume.
Digital sampling and processing 2 is using the high-performance processor progress data sampling and processing based on ARM series and remotely
Transmission.It may be implemented to be converted to measurement angle value G into control instruction, and control holder adjusts measurement angle；It can acquire in real time
The velocity information of measurement, and angle value G is combined, velocity amplitude S of the ship on its course is corrected in real time, to each group of real-time speed
Value S carries out a series of accidentally method of determining and calculating judgements；And the mistake measured value of crewman's walking is corrected by linear fit algorithm.
Speed of a ship or plane warning module 3 is rejected by real-time reception speed of the ship in metres per second value S, and by wrong data, data threshold judgement,
A series of software Processing Algorithms realizations such as curve-fitting data and drafting carry out early warning to whether speed of the ship in metres per second value S transfinites.
Dispatching communication module 4 supports RS232/ using support ICP/IP protocol, many transport protocols such as Modbus agreement
The technical grade communication equipment of a variety of transmission modes such as RS422/RS485, realizes the data interaction between each module.
Control centre 5 uses high performance technical grade control system, has a variety of scheduling, the function of manipulation.
First and second two-sided display screen uses large-scale LCD color display, and in ship booster supporting compartment upstream and downstream position
Each one piece of installation.
Holder is the support equipment for installing fixed radar, and cradle head control module is by two alternating current generators or direct current generator
The mounting platform of composition, movement that can be horizontal and vertical, it is received by two operating motors from peripheral control unit
Signal accurately carries out operating positioning, so as to improve the DATA REASONING precision of high-precision low speed radar module.
A kind of low speed of a ship or plane early-warning detection method of ship, specific workflow are as follows:
Step A, measurement range needed for angle covers is adjusted:
Control centre 5 provides measurement angle according to the detection device by being mounted on ship lift, and by measurement angle value G
It is transferred to dispatching communication module 4, measurement angle value G is transferred to cradle head control module, cradle head control mould by dispatching communication module 4
Measurement angle value G is converted to control instruction by block, and control holder adjusts measurement angle.
Step B, navigational speed information acquisition and processing:
Dispatching communication module 4 receives the instruction of 5 Real-Time Scheduling of control centre automatically, when the tune for receiving ship disengaging ship lift
It when degree instruction, notifies cradle head control module, enable signal is sent by cradle head control module, enable high-precision low speed radar module 1,
Digital sampling and processing 2 starts the velocity information for acquiring measurement in real time simultaneously, and combines the angle value G recorded in step A, real
Velocity amplitude S of the Shi Xiuzheng ship on its course carries out a series of accidentally method of determining and calculating judgements to each group of real-time speed value S, if
It is to miss measured value, then passes through the mistake measured value C that linear fit algorithm corrects crewman's walking；Pass in and out what ship lift was completed when receiving ship
When dispatch command, notifies cradle head control module, waiting suspended state is entered by cradle head control module control system.
C, early warning is shown:
The calculated velocity amplitude S of 3 real-time reception digital sampling and processing of speed of a ship or plane warning module 2, and judge current
Whether velocity amplitude S is greater than the velocity amplitude L of the restriction of control centre 5, if current speed value S is less than the speed that control centre 5 limits
Value L informs the current shipping sail speed of deck officer then it will be shown on two-sided display screen；If current speed value S is big
In real-time display current speed value S on the velocity amplitude L for being equal to the restriction of control centre 5, two-sided display screen, while on two-sided display screen
By display hypervelocity printed words, reminds the current ship of deck officer to exceed the speed limit and answers low steaming.4 real-time reception number of dispatching communication module
According to the calculated velocity amplitude S of acquisition processing module 2 and it is uploaded to control centre 5, if current speed value S is more than or equal in scheduling
The velocity amplitude L that the heart 5 limits will remind control centre 5, be notified again by control centre 5, and deck officer is reminded to need Reduced Speed Now.
As shown in Figure 3, Figure 4, a kind of low speed of a ship or plane of ship detects early warning system, and workflow is as follows:
1, for whole system first other than dispatching communication module 4, other modules are in hang-up wait state, dispatching communication
Module 4 once receives the instruction of the transmission of control centre 5, immediately enters instruction and judges link；
2, judge altogether three kinds of instructions: instruction is completed in angle value, ship disengaging ship compartment instruction, movement；
2.1, if it is determined that receiving the adjustment angle instruction assigned control centre 5, angle value G is transmitted to cradle head control
Angle value G is stored and is converted to control instruction by cradle head control module by module, and control electric platform turns to designated position；
2.2, if it is determined that receiving the ship disengaging compartment instruction assigned control centre 5, cradle head control module makes transmission
Energy signal, notice high-precision low speed radar module 1 are started to work, while digital sampling and processing 2 starts to acquire low speed radar
The raw value of return calculates the actual speed component S on current ship course according to the angle value G of storage, passes through preceding N
Group (N is the data sample in fitting algorithm) data carry out threshold decision, if the Rule of judgment for meeting accidentally measured value C, if not
Meet and is transferred directly to early warning display module and control centre 5；Enter algorithm if meeting and be fitted task, is fitted by algorithm
Approximation out rejects accidentally measured value, then transfers data to early warning display module and control centre 5.Primary accidentally measured value is completed to sentence
Whether carry out system of having no progeny, which enters, is hung up wait state judgement.
2.3, if it is determined that receiving the ship disengaging compartment assigned control centre 5 completes instruction, cradle head control module will be
System is mentioned to Suspend Mode.
Wherein fitting algorithm system proposes selection type least-squares line regression forecasting algorithm, and selection type least square is straight
The specific establishment process of line regression forecasting algorithm and operation process are as follows:
Establish selection type least-squares line regression model:
Wherein,It is least squares line fitting function, a and b are any real number, and x is the data for needing to be fitted
Value.
Residual sum of squares (RSS) Q are as follows:
Wherein, Q characterization corresponds to the data value x of n actual measurementiAmplitude fi and least square method fitting functional valueError (i.e. total residual error) summation.Optimum fit curve may be selected generally according to the smallest Q value.
It minimizes to residual sum Q, asks local derviation to have parameter a and b:
Two formula above simultaneous has after calculating:
If
It predicts that the size of ordered series of numbers is n, obtain after a, b are solved to formula:
Thus up to the value of the parameter a and b of least-squares line regression equation.
It is calculated according to selection type least-squares line regression modelIf △ h is measurement data and prediction
The maximum deviation that data allow.
IfI.e. the difference of the absolute value of measured value and Least Square Theory match value, which is greater than, limits
Error, then illustrate that this data point is that crewman walks about the abnormal data of generation, it should replace it with prediction numerical value；IfThen illustrate that this data point meets ship's speed variation tendency, data are added in prediction ordered series of numbers, then is carried out down
The prediction of one data.
Claims (4)
1. a kind of low speed of a ship or plane early warning detection system of ship, including high-precision low speed radar module (1), digital sampling and processing
(2), speed of a ship or plane warning module (3), dispatching communication module (4)；It is characterized by:
The high-precision low speed radar module (1) connect with digital sampling and processing (2), high-precision low speed radar module (1)
Original velocity value is returned into digital sampling and processing (2), and receives the angle command of digital sampling and processing (2), is opened
Dynamic electric platform, adjusts high-precision low speed radar module (1) angle；
The digital sampling and processing (2) connect with speed of a ship or plane warning module (3), dispatching communication module (4) respectively, dispatching communication
Module (4) connects control centre (5)；
Acquisition processing module (2) revised velocity amplitude, progress ship hypervelocity judge speed of a ship or plane warning module (3) for receiving data
And real-time display, to remind the real-time speed of a ship or plane of deck officer's ship；
Dispatching communication module (4) is used to receive the set angle angle value and navigation instruction of control centre (5), is transferred at data acquisition
It manages module (2), so that digital sampling and processing (2) carry out the enabled and hang-up movement of entire detection system.
2. the low speed of a ship or plane early warning detection system of a kind of ship according to claim 1, it is characterised in that: the system further includes installation
The first two-sided display screen (8), the second two-sided display screen (8 ') in ship booster supporting compartment (7) upstream and downstream position, described first,
Two two-sided display screens are all connected with digital sampling and processing (2).
3. the low speed of a ship or plane early warning detection system of a kind of ship according to claim 1, it is characterised in that: the data acquisition process
Module (2) connects cradle head control module.
4. a kind of low speed of a ship or plane early-warning detection method of ship, it is characterised in that:
Control centre (5) provides measurement angle by the detection device being mounted on ship lift, and measurement angle value G is transferred to
Measurement angle value G is transferred to digital sampling and processing (2), data by dispatching communication module (4) by dispatching communication module (4)
Measurement angle value G is converted to control instruction by acquisition processing module (2), and control holder adjusts measurement angle；
Dispatching communication module (4) receives the instruction of control centre's (5) Real-Time Scheduling automatically, when the tune for receiving ship disengaging ship lift
When degree instruction, notification data acquisition processing module (2) sends enable signal by digital sampling and processing (2), enables high-precision
Low speed radar module (1), while digital sampling and processing (2) starts the velocity information of acquisition measurement in real time, and combines record
Angle value G, correct velocity amplitude S of the ship on its course in real time, each group of real-time speed value S a series of accidentally calculate
Method judgement；If it is accidentally measured value, then the mistake measured value C of crewman's walking is corrected by linear fit algorithm；It is passed in and out when receiving ship
When the dispatch command that ship lift is completed, notification data acquisition processing module (2), by digital sampling and processing (2) control system
Into waiting suspended state；
The calculated velocity amplitude S of speed of a ship or plane warning module (3) real-time reception digital sampling and processing (2), and judge current
Whether velocity amplitude S is greater than the velocity amplitude L of control centre's restriction, if current speed value S is less than the speed that control centre (5) limit
Value L informs the current shipping sail speed of deck officer then it will be shown on two-sided display screen；If current speed value S is big
In the velocity amplitude L, the real-time display current speed value S on two-sided display screen that are equal to control centre (5) and limit, while two-sided display screen
On will display hypervelocity printed words, remind the current ship of deck officer to exceed the speed limit and answers low steaming；
The calculated velocity amplitude S of dispatching communication module (4) real-time reception digital sampling and processing (2) is simultaneously uploaded to control centre
(5), if current speed value S is more than or equal to the velocity amplitude L that control centre (5) limit, control centre (5) will be reminded, by dispatching
Center (5) notifies again, and deck officer is reminded to need Reduced Speed Now.
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