CN110986947B - Multi-target self-navigation ship model track tracking measurement method - Google Patents
Multi-target self-navigation ship model track tracking measurement method Download PDFInfo
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Abstract
The invention discloses a multi-target self-navigation ship model track tracking and measuring method, which comprises the following steps: s1, acquiring an initial azimuth sequence of a self-propelled ship model; s2, acquiring an azimuth sequence in the motion process of the self-navigation ship model; s3, calculating a residual matrix of the azimuth sequence and the initial azimuth sequence; s4, carrying out re-matching on azimuth angles of the azimuth sequence according to the residual error matrix to obtain a new azimuth sequence; s5, calculating coordinates of a self-propelled ship model target according to the new azimuth sequence; s6, analogizing according to the steps S2-S5 until the test is finished, and obtaining a coordinate set of the self-propelled ship model target; s7, calculating the running track of the self-propelled ship model according to the coordinate set of the self-propelled ship model target. The multi-target self-propelled ship model track tracking and measuring method disclosed by the invention can be used for simultaneously tracking and measuring a plurality of self-propelled ship model tracks under the advantages of maintaining high precision and high frequency response.
Description
Technical Field
The invention relates to the field of tracking and measuring of self-propelled ship models, in particular to a multi-target tracking and measuring method of self-propelled ship models.
Background
The navigation track is a key parameter of a navigation test of the self-navigation ship model, the multi-ship navigation condition is a research hot spot and a difficulty of the self-navigation ship model test of the hydraulic physical model in recent years, and the current method for measuring the track of the self-navigation ship model mainly comprises two types:
(1) the laser angle measurement cross positioning method is to install two reflective targets at the head and the tail of the self-propelled ship model, scan azimuth angles of the two targets by using two laser angle measurement scanning systems, and calculate the navigation track of the self-propelled ship model in real time based on the cross positioning method. The method has high measurement precision and good real-time performance, and is a widely accepted method at present. However, because false intersection points can be generated by the cross positioning method, the existing algorithm can not remove the false intersection points, and therefore, the method can only realize single self-navigation ship model track measurement.
(2) The image recognition tracking measurement method is to install a camera above the physical model and track and measure the navigation track of the self-navigation ship model based on a machine vision method. Compared with a laser angle measurement cross positioning method, the method has no limit on the number of self-propelled ship models, and can realize simultaneous tracking measurement on multiple ship motion tracks, but the method has extremely dependent hardware resources in calculation efficiency and poor instantaneity, and meanwhile, the method is still in a test improvement stage due to difficult correction of edge distortion, complex ambient illumination conditions and lower measurement precision than the laser angle measurement cross positioning method.
Therefore, in order to solve the above problems, a method for tracking and measuring the track of the multi-target self-propelled ship model is needed, which can simultaneously track and measure a plurality of self-propelled ship model tracks under the advantages of maintaining high precision and high frequency response.
Disclosure of Invention
Therefore, the invention aims to overcome the defects in the prior art, and provides a multi-target self-propelled ship model track tracking measurement method which can simultaneously track and measure a plurality of self-propelled ship model tracks under the advantages of high precision and high frequency response.
The invention discloses a multi-target self-navigation ship model track tracking and measuring method, which comprises the following steps:
s1, before the test is started,arranging n self-propelled ship models in sequence, enabling the ship heads of the n self-propelled ship models to face the same direction, respectively setting a ship head target and a ship tail target for the n self-propelled ship models, simultaneously scanning the ship head target and the ship tail target of the n self-propelled ship models by using two sets of scanners, and obtaining an initial left azimuth sequence G of the n self-propelled ship model targets 0 ：
With initial right angle sequence H 0 ：/>
Wherein n=1, 2,3, …, N; i=1, 2, …, n; i is the number of the self-propelled ship model; />
and />
Respectively scanning a bow azimuth angle and a stern azimuth angle of the ith self-propelled ship model by one set of scanner; />
and />
Respectively scanning a stern azimuth angle and a bow azimuth angle of the ith self-propelled ship model by another set of scanners; subscript of azimuth is the number of target;
s2, after the test is started, scanning the stem targets and the stern targets of the n self-propelled ship models to obtain left azimuth sequences G of the n self-propelled ship model targets 1 ：(α 1 ,α 2 ,…,α 2i-1 ,α 2i ,…,α 2n-1 ,α 2n ) And right azimuth sequence H 1 ：(β 1 ,β 2 ,…,β 2i-1 ,β 2i ,…,β 2n-1 ,β 2n )；
S3, calculating a left azimuth sequence G 1 With initial left azimuth orderColumn G 0 Is a residual matrix deltad of (d) α The method comprises the steps of carrying out a first treatment on the surface of the Calculating the right azimuth sequence H 1 With initial right angle sequence H 0 Is a residual matrix deltad of (d) β ；
S4, according to the residual error matrix delta d α For left azimuth sequence G 1 The order of the middle azimuth angles is adjusted to lead the left azimuth angle to match the affiliated target, thus obtaining a new left azimuth angle sequence
According to the residual matrix Deltad β For right azimuth sequence H 1 The order of the right azimuth angles is adjusted to enable the right azimuth angles to match the target to obtain a new right azimuth angle sequence +.>
S5, according to the new left azimuth sequence
Right azimuth sequence->
Calculating bow target coordinate sequences of n self-propelled ship models +.>
Coordinate sequence of stern target->
S6, respectively taking the new left azimuth sequence and the new right azimuth sequence scanned each time as an initial left azimuth sequence and an initial right azimuth sequence of the next scanning, analogizing in the steps S2-S5 until the test is finished, and finally obtaining a bow target coordinate sequence set C of n self-propelled ship models H Coordinate sequence set C with stern target T ；
S7, according to the bow target coordinate sequence set C of n self-propelled ship models H Coordinate sequence set C with stern target T Calculating n self-navigation ship modelsAnd (5) a running track.
Further, in step S2, when occlusion occurs in the self-navigation ship model target, the scanned left azimuth sequence G: (alpha) 1 ,α 2 ,…,α k ,…,α p ) Or right azimuth sequence H: (beta) 1 ,β 2 ,…,β l ,…,β q ) The number of the middle azimuth angles is reduced, and then the left azimuth angle sequence or the right azimuth angle sequence is required to be complemented; wherein k and p are left azimuth subscripts, the values are positive integers, and k<p，p<2n; l and q are right azimuth subscripts, the values are positive integers, and l<q，q<2n。
Further, the left azimuth sequence G is complemented according to the following steps:
s31, calculating a left azimuth sequence G and an initial left azimuth sequence G 0 Residual matrix of (2)
S32, residual error matrix
The elements of the kth line are arranged in order from small to large, and the first two elements of the kth line are taken out as data pairs +.>
Calculating data pair difference->
Wherein u and v are the residual matrices +.>
Column u and column v;
s33, obtaining a residual matrix by analogy in the step S32
The data pair difference values of each row are combined into a data pair difference sequence +.>
S34, arranging the data pair difference values in the data pair difference value sequence from small to large, taking out the first 2n-p data pair difference values, and searching for left azimuth angles corresponding to the 2n-p data pair difference values respectively to fill in the left azimuth angle sequence;
the right azimuth sequence H is complemented according to the following steps:
s35, calculating a right azimuth sequence H and an initial right azimuth sequence H 0 Residual matrix of (2)
/>
S36, residual error matrix
The elements of the first row are arranged in order from small to large, and the first two elements of the first row are taken out as data pairs +.>
Calculating data pair difference->
Wherein d and w are respectively the residual matrix +.>
Column d and column w;
s37, obtaining residual errors by analogy in the step S36Matrix array
The data pair difference values of each row are combined into a data pair difference sequence +.>
S38, arranging the data pair difference values in the data pair difference value sequence from small to large, taking out the first 2n-q data pair difference values, and searching right azimuth angles corresponding to the 2n-q data pair difference values respectively to fill in the right azimuth angle sequence.
Further, in step S3, a residual matrix Δd is determined according to the following formula α ：
Wherein the left azimuth sequence G 1 Is (alpha) 1 ,α 2 ,…,α 2i-1 ,α 2i ,…,α 2n-1 ,α 2n ) The method comprises the steps of carrying out a first treatment on the surface of the Initial left azimuth sequence G 0 Is that
Determining a residual matrix Δd according to the following formula β ：
Wherein the right azimuth sequence H 1 Is (beta) 1 ,β 2 ,…,β 2i-1 ,β 2i ,…,β 2n-1 ,β 2n ) The method comprises the steps of carrying out a first treatment on the surface of the Initial right azimuth sequence H 0 Is that
Further, in step S4, a new left azimuth sequence is obtained according to the following steps
a. Determining a residual matrix Δd α Mid and left azimuth angle alpha 1 Azimuth in initial left azimuth sequence with minimal difference
Will be alpha 1 The position of the s-th target in the left azimuth sequence is adjusted to be +.>
wherein ,/>
The left azimuth angle corresponding to the s-th target of the self-propelled ship model; subscript s is the belonging target number; s represents the bow target when it is odd and the stern target when it is even; superscript 1 is the 1 st measurement;
b. deleting residual matrix Δd α Is used for determining a residual matrix delta d according to the 1 st row and the s th column α Mid and left azimuth angle alpha 2 Azimuth in initial left azimuth sequence with minimal difference
Will be alpha 2 The position of the r target in the left azimuth sequence is adjusted and is marked as +.>
Wherein r=1, 2, …,2n; />
A left azimuth angle corresponding to the r target of the self-propelled ship model; subscript r is the number of the target to which it belongs; r is odd and represents the bow target, and r is even and represents the stern target; superscript 1 is the 1 st measurement;
c. by analogy with step b, the left azimuth sequence G is adjusted 1 In other azimuth order, a new left azimuth sequence is obtained
Obtaining a new right azimuth sequence according to the following steps
e. Determining a residual matrix Δd β Middle and right azimuth angle beta 1 Azimuth in initial right azimuth sequence with minimal difference
Beta will be 1 The position of the s-th target in the right azimuth sequence is adjusted to be +.>
wherein ,/>
The right azimuth angle corresponding to the s-th target of the self-propelled ship model; subscript s is the belonging target number; s represents the stern target when it is odd, and the bow target when it is even; superscript 1 is the 1 st measurement;
f. deleting residual matrix Δd β Is used for determining a residual matrix delta d according to the 1 st row and the s th column β Middle and right azimuth angle beta 2 Azimuth in initial right azimuth sequence with minimal difference
Beta will be 2 The position of the r target in the right azimuth sequence is adjusted and is marked as +.>
Wherein r=1, 2, …,2n; />
A right azimuth angle corresponding to the r target of the self-propelled ship model;subscript r is the number of the target to which it belongs; r is odd number and represents stern target, r is even number and represents bow target; superscript 1 is the 1 st measurement;
g. by analogy with step f, the right azimuth sequence H is adjusted 1 In other azimuth sequences to obtain a new right azimuth sequence
Further, for a new left azimuth sequence
New right azimuth sequence +.>
The verification of the self-propelled ship model target to which the middle azimuth belongs comprises the following steps:
s41, calculating the bow coordinates of the ith self-propelled ship model
Stern coordinates->
wherein ,/>
S42, calculating the distance between the bow target and the stern target of the ith self-propelled ship model
S43, judging
Whether or not it is greater than 3 sigma i The method comprises the steps of carrying out a first treatment on the surface of the If so, the azimuth angle corresponding to the ith self-navigation ship model target is wrong, and the sequence of azimuth angles in the azimuth angle sequence is required to be readjusted; otherwise, do nothing;
wherein ,Li Sigma is the actual distance between the targets of the ith self-propelled ship model i Is a discrete threshold for inter-target distance measurement.
Further, a discrete threshold σ of the inter-target distance measurement is determined according to the following formula i ：
wherein ,
the j-th scanned distance between targets is the distance between the ship model i and the ship model i when the ship model is stationary before the test is started; m is the number of times the self-propelled ship model is scanned before starting the test; j=1, 2, …, M; l (L) i Is the actual distance between the ith self-propelled ship model targets.
Further, in step S43, the order of azimuth angles in the azimuth sequence of the ith autopilot is readjusted according to the following steps:
s431, the left azimuth angle corresponding to the two targets of the ith self-propelled ship model
and />
Shift to left azimuth sequence G 1 And by analogy with steps a-b, again for the left azimuth sequence G 1 The order of the middle azimuth angles is adjusted to obtain the left azimuth sequence +.>
S432, according to left azimuth sequence
Right azimuth sequence
Step S41-S42 is performed to obtain a distance difference value
S433, right azimuth angles corresponding to two targets of the ith self-propelled ship model
and />
Shift to right azimuth sequence H 1 Finally, by analogy with step e-f, the right azimuth sequence H is again followed 1 The order of the middle azimuth angles is adjusted to obtain the right azimuth sequence +.>
S434, according to right azimuth sequence
And left azimuth sequence->
Steps S41-S42 are performed to obtain the distance difference +.>
S435 according to left azimuth sequence
Right azimuth sequence
Steps S41-S42 are performed to obtain the distance difference +.>
S436, calculating a minimum value min in the distance difference value A, B and C;
s437, judging whether the minimum value min is larger than 3 sigma i The method comprises the steps of carrying out a first treatment on the surface of the If so, continuing to execute the steps S431-S436 until min is less than or equal to 3σ i When the execution times exceeds 10 times, discarding the scanned left and right azimuth sequences; otherwise, the azimuth angle adjustment result corresponding to the minimum value min is used as a final azimuth angle correction result.
The beneficial effects of the invention are as follows: according to the multi-target self-propelled ship model track tracking measurement method disclosed by the invention, the azimuth sequence of the self-propelled ship model target is obtained through scanning, and the azimuth of the self-propelled ship model target is adjusted and matched, so that the measured azimuth corresponds to the corresponding self-propelled ship model target, the matching result of the azimuth is checked, when the matching result has errors, the target of the azimuth is matched again, the accuracy of the matching result is ensured, and therefore, the simultaneous tracking measurement of a plurality of self-propelled ship model tracks is realized under the advantage of high precision and high frequency response.
Drawings
The invention is further described below with reference to the accompanying drawings and examples:
FIG. 1 is a schematic flow chart of the method of the present invention;
FIG. 2 is a schematic diagram of a laser self-propelled ship model track plotter measurement of the present invention;
FIG. 3 is a schematic view of the initial conditions of the multi-target self-propelled ship model of the present invention;
FIG. 4 is a schematic view of azimuth shielding of a multi-target autopilot;
FIG. 5 is a schematic diagram of the multi-target autopilot azimuthal interference of the present invention.
Detailed Description
The invention is further described with reference to the accompanying drawings, in which:
the invention discloses a multi-target self-navigation ship model track tracking and measuring method, which comprises the following steps:
s1, before the test starts, sequentially arranging n self-propelled ship models so that the ship heads of the n self-propelled ship models face the same direction, respectively setting a ship head target and a ship tail target for the n self-propelled ship models, simultaneously scanning the ship head target and the ship tail target of the n self-propelled ship models by using two sets of scanners, and obtaining an initial left azimuth sequence G of the n self-propelled ship model targets 0 ：
With initial right angle sequence H 0 ：/>
Wherein n=1, 2,3, …, N; i=1, 2, …, n; i is the number of the self-propelled ship model; />
and />
Respectively scanning a bow azimuth angle and a stern azimuth angle of the ith self-propelled ship model by one set of scanner; />
and />
Respectively scanning a stern azimuth angle and a bow azimuth angle of the ith self-propelled ship model by another set of scanners; subscript of azimuth is the number of target;
s2, starting the testThen, the bow targets and the stern targets of the n self-propelled ship models are scanned to obtain left azimuth sequences G of the n self-propelled ship model targets 1 ：(α 1 ,α 2 ,…,α 2i-1 ,α 2i ,…,α 2n-1 ,α 2n ) And right azimuth sequence H 1 ：(β 1 ,β 2 ,…,β 2i-1 ,β 2i ,…,β 2n-1 ,β 2n )；
S3, calculating a left azimuth sequence G 1 With initial left azimuth sequence G 0 Is a residual matrix deltad of (d) α The method comprises the steps of carrying out a first treatment on the surface of the Calculating the right azimuth sequence H 1 With initial right angle sequence H 0 Is a residual matrix deltad of (d) β ；
S4, according to the residual error matrix delta d α For left azimuth sequence G 1 The order of the middle azimuth angles is adjusted to lead the left azimuth angle to match the affiliated target, thus obtaining a new left azimuth angle sequence
According to the residual matrix Deltad β For right azimuth sequence H 1 The order of the right azimuth angles is adjusted to enable the right azimuth angles to match the target to obtain a new right azimuth angle sequence +.>
S5, according to the new left azimuth sequence
Right azimuth sequence->
Calculating bow target coordinate sequences of n self-propelled ship models +.>
Coordinate sequence of stern target->
S6, respectively taking the new left azimuth sequence and the new right azimuth sequence scanned each time as an initial left azimuth sequence and an initial right azimuth sequence of the next scanning, analogizing in the steps S2-S5 until the test is finished, and finally obtaining a bow target coordinate sequence set C of n self-propelled ship models H Coordinate sequence set C with stern target T ；
S7, according to the bow target coordinate sequence set C of n self-propelled ship models H Coordinate sequence set C with stern target T And calculating the running tracks of the n self-propelled ship models.
The measuring principle of the laser self-navigation ship model track plotter is shown in fig. 2, two reflection rods A and B are erected from the head to the tail of the self-navigation ship model, and LSR1 and LSR2 are two sets of laser scanning angle measuring systems and are used for detecting azimuth information of the position where A, B is located. The distance between LSR1 and LSR2 is L, which remains unchanged during the measurement. And establishing a rectangular coordinate system by taking LSR1 as an origin and taking a connecting line of LSR1 and LSR2 as an x axis. LSR1 scans anticlockwise to obtain two points A, B with left azimuth angles of alpha respectively 1 、α 2 . LSR2 scans clockwise to obtain right azimuth angles of A, B points respectively as beta 2 、β 1 。
According to the azimuth angle of the measuring point and the sine theorem of the triangle, A, B two-point two-dimensional coordinates can be obtained:
a has the coordinates (x) 1 ,y 1), wherein ,
b has the coordinates of (x) 2 ,y 2), wherein ,
the motion trail of the ship model can be obtained according to the formula (1) and the formula (2).
The self-propelled ship model is a ship model which moves in a manual remote control mode, and the movement of the ship model is controlled through remote control.
In this embodiment, in step S1, n self-propelled ship models are provided, and each self-propelled ship model has 2 targets, and the total number of targets is 2 n. Before entering the test river reach (alsoJust before the test starts, each self-propelled ship model keeps still), adjusts the position between the self-propelled ship models, arranges n self-propelled ship models in proper order, and the bow all is towards the test river reach, to every self-propelled ship model, laser scanning angle measurement system LSR1 scans and obtains a set of left azimuth:
i is the number of the self-propelled ship model, n groups are total, n is a positive integer, and the n groups are combined to obtain a left azimuth sequence +.>
The relative positions of the ship models are adjusted to meet the following conditions:
the azimuth angles of the ship models meeting the formula (3) are staggered, the number of the nearest ship model from the test river reach is 1, and the other ship models are numbered 2, … and n in sequence. Then there are:
the azimuth angles of the two targets of the bow and the stern of the No. 1 self-navigation ship model are respectively as follows:
the azimuth angles of the two targets of the bow and the stern of the i number self-propelled ship model are respectively as follows:
the azimuth angles of the two targets of the bow and the stern of the n number self-propelled ship model are respectively as follows:
similarly, the laser scanning angle measurement system LSR2 scans to obtain a set of right azimuth sequences:
then there are:
the azimuth angles of the two targets of the bow and the stern of the No. 1 self-navigation ship model are respectively as follows:
the azimuth angles of the two targets of the bow and the stern of the i number self-propelled ship model are respectively as follows:
the azimuth angles of the two targets of the bow and the tail of the n-number self-propelled ship model are respectively as follows:
in azimuth sequence
And taking the determined multi-target self-navigation ship model position as an initial condition of a self-navigation ship model test.
In the embodiment, in step S2, the azimuth data sequence obtained by the laser angle measurement scanning system, in a few cases, some targets may be blocked by other targets during the movement of multiple self-navigation ship models, so that the azimuth sequences output by the laser angle measurement scanning system are different in length. As shown in fig. 4, when the three points of the target of the self-propelled ship model 1, the target of the self-propelled ship model 2 and the laser exit point are collinear, the target of the self-propelled ship model 2 is shielded, the left azimuth data sequence is reduced by 1, the length of the LSR1 output data sequence is 2n-1, the data is missing, and the missing data needs to be filled. Since the left azimuth angle of the stern of the self-propelled ship model 1 is equal to that of the stern of the self-propelled ship model 2, the same azimuth angle data can be filled in the data sequence to complement the data. The principle of filling missing data is to find azimuth angles when collinear, and expand the original azimuth sequence.
Specifically, the filling method is as follows:
azimuth sequence (alpha) measured by LSR1 1 ,α 2 ,…,α k ,…,α p ) If there is no occlusion, 2n data should be taken, indicating that a total of 2n-p targets are occluded. Calculating a residual matrix of the currently measured azimuth and the azimuth under the initial condition
Wherein the azimuth sequence
For convenience of presentation, the general term +.>
In the form, another representation of the azimuthal sequence is obtained
The left azimuth sequence and the right azimuth sequence described below have the same general terms as the processing mode, and are not described in detail.
2. In the residual matrix
Taking the first two minimum values in each row, for the kth row, the first two minimum values make up the data pair: />
k represents the number of rows and u and v represent the number of columns. Calculating a data pair difference value to obtain:
similarly, a residual matrix can be obtained>
Data pair differences for other rows in the database.
3. The data pairs are combined into a sequence:
the elements of the sequence (9) are arranged in order from small to large, the data pairs corresponding to the first 2n-p minimum values in the sequence are taken, if no 2n-p data exist, all the data in the sequence (9) are taken out, and one data pair is set as
Which is located in the kth line in formula (8), illustrates alpha k And->
Approaching to cause shielding phenomenon in the motion process of the self-navigation ship model, and alpha is adopted k Fill the missing dataset, will α k Addition to the sequence (. Alpha 1 ,α 2 ,…,α k ,…,α p ) At the end of (2). Specifically, the minimum values extracted from the sequence (9) can be ordered in the order from small to large, 2n-p data are found out according to the ordering order to be filled in sequence, and when 2n-p data are not enough, the last data found out can be filled in for a plurality of times, so that the azimuth sequence is complete, and the following conversion is realized:
(α 1 ,α 2 ,…,α k ,…,α p )→(α 1 ,α 2 ,…,α j ,…,α 2n ) (10)
if LSR2 measures azimuth sequence (. Beta.) 1 ,β 2 ,…,β l ,…,β q )，q<2n, the data is also deleted, and the right azimuth sequence is filled according to the steps 1-3, so that the following conversion is realized:
(β 1 ,β 2 ,…,β l ,…,β q )→(β 1 ,β 2 ,…,β j ,…,β 2n ) (11)
the final left azimuth sequence is (alpha) 1 ,α 2 ,…,α 2i-1 ,α 2i ,…,α 2n-1 ,α 2n ) The right azimuth sequence is (beta) 1 ,β 2 ,…,β 2i-1 ,β 2i ,…,β 2n-1 ,β 2n ) Where i=1, 2, …, n.
In this embodiment, in step S3, in the initial state,
is left azimuth angle of bow and stern of the ith self-navigation ship model, +.>
Is the right azimuth angle of the bow and the stern of the ith self-navigation ship model. Since each self-propelled ship model has no correlation in ship speed, movement direction, movement track and the like, alpha in the left azimuth sequence measured after the self-propelled ship model moves 2i-1 、α 2i Not necessarily the left azimuth of the ith vessel, beta in the right azimuth sequence 2j 、β 2j-1 Nor is it necessarily the right azimuth of the ith vessel. The measured azimuth angles need to be reassigned to the respective corresponding targets.
In the motion process of the self-propelled ship model, the azimuth angle is continuously changed, the scanning frequency of the laser scanning angle measuring system is 50Hz, the motion speed of the self-propelled ship model is relatively slow, and the change of the azimuth angle measured by two adjacent times of the same target is considered to be extremely small. Based on this idea, the targets to which the currently measured azimuth belongs are distinguished by calculating the residual matrices of the azimuth angles measured twice adjacently.
Residual matrix Δd of currently measured left azimuth and initial condition left azimuth α ：
Wherein the j-th row represents the measured left azimuth angle alpha j Under the initial conditionsAbsolute value of the difference between the initial values of the left azimuth angles of the targets.
In the present embodiment, in step S4, the left azimuth angle α is determined according to the following steps j (j=1, 2, …,2 n) to which the target:
a. for residual matrix Deltad α Ordered in the first row of (a), if alpha 1 From the s (s=1, 2, …,2 n) th azimuth angle in the initial condition
If the difference is the smallest, then alpha 1 The current measurement as the s-th target is noted as:
wherein ,
for the azimuth corresponding to the s-th target, the subscript s represents the number of the target, s is an odd number representing the bow, an even number representing the stern, and the superscript 1 represents the 1 st measurement.
b. Deleting residual matrix Δd α For the 1 st row and the s th column of the residual matrix Δd α If alpha 2 From the (r=1, 2, …,2 n) th azimuth angle in the initial condition
The difference value is the smallest, then alpha is 2 The current measurement as the r-th target is noted as:
wherein ,
for the azimuth corresponding to the r-th target, the subscript r indicates the number of the target, r is an odd number indicating the bow, an even number indicating the stern, and the superscript 1 indicating the 1 st measurement.
c. By analogy with step b, the left azimuth sequence (alpha 1 ,α 2 ,…α j ,…,α 2n ) The target numbers of all azimuth angles realize the following transformation:
left azimuth sequence of raw measurements (alpha 1 ,α 2 ,…,α j ,…,α 2n ) Failing to distinguish the target to which each measured value belongs, the transformed left azimuth sequence
The corresponding relation with the target of the self-propelled ship model is as follows:
the azimuth angles of the two targets of the bow and the stern of the No. 1 self-navigation ship model are respectively as follows:
the azimuth angles of the two targets of the bow and the stern of the i number self-propelled ship model are respectively as follows:
/>
the azimuth angles of the two targets of the bow and the stern of the n number self-propelled ship model are respectively as follows:
similarly, according to step S3, a residual matrix Deltad of the currently measured right azimuth angle and the right azimuth angle under the initial condition is calculated β ：
According to step S4, in particular by analogy with steps a to c described above, the right azimuth sequence of the current measurement is transformed:
transformed right azimuth sequence
The targets are arranged according to the sequence of the targets, and the corresponding relation between the targets and the self-propelled ship model is as follows:
the azimuth angles of the two targets of the bow and the stern of the No. 1 self-navigation ship model are respectively as follows:
the azimuth angles of the two targets of the bow and the stern of the i number self-propelled ship model are respectively as follows:
the azimuth angles of the two targets of the bow and the tail of the n-number self-propelled ship model are respectively as follows:
after the left azimuth angle and the right azimuth angle are converted, the motion trail of each target of each self-propelled ship model can be calculated according to the formula (1) and the formula (2) in ideal conditions, but because the motion trail of multiple ship models are mutually crossed and interfered, azimuth angle misjudgment is easy to generate. For example, as shown in FIG. 5, the azimuth angle of the self-propelled ship model 1 is ideally changed to be θ 1 The azimuth angle change value of the self-propelled ship model 2 is theta 2 . Because the azimuth angles of the two self-navigation ship models are relatively close, the azimuth angle change value of the self-navigation ship model 1 can be misjudged as theta by using an azimuth angle matching algorithm 3 Misjudging the azimuth angle change value of the self-propelled ship model 2 as theta 4 Thereby generating errors and affecting the tracking precision of the self-propelled ship model.
And (3) checking and correcting the transformation result:
1) Target matching misjudgment test
The distance between two targets on the self-propelled ship model is a fixed value, and the target matching result is checked based on the characteristic. According to(15) And (17) to obtain the ith self-propelled ship model bow coordinate as
Stern coordinates of
wherein ,
the distance between the bow target and the stern target of the ith self-propelled ship model
Target matching false positive verification criteria: if it is
The azimuth matching of the ith self-navigation ship model target is incorrect, and re-matching is needed; otherwise no re-matching is required. Wherein L is i Sigma is the actual distance between the targets of the ith self-propelled ship model i Representing the discreteness of inter-target distance measurements;
2) Azimuth correction method
Let the target azimuth angle of the ith self-propelled ship model match with error, but not determine which azimuth angle matches with error. The azimuth angle is corrected according to the following manner:
(1) left azimuth re-matching
According to the azimuth matching algorithm, the measurement value of the left azimuth of two targets of the ith self-propelled ship model
and />
Corresponding sequence (. Alpha.) 1 ,α 2 ,…,α j ,…,α 2n ) Alpha of (a) e 、α g Azimuth angle alpha e Residual term of->
Is located in the residual matrix Δd α Line e, azimuth angle α in (equation (12)) g Residual terms of (2)
Is located in the residual matrix Δd α Row g of (b). Move the e-th and g-th lines to the residual matrix Δd α Re-calculating the left azimuth measurement value of two targets of the ith self-propelled ship model according to an azimuth matching algorithm (not in succession)>
and />
And generates a new matching sequence +.>
(2) Right azimuth re-matching
According to the azimuth matching algorithm, the measurement value of the right azimuth of two targets of the ith self-propelled ship model
and />
Corresponding sequenceColumn (beta) 1 ,β 2 ,…,β j ,…,β 2n ) Beta of (B) f 、β h Azimuth angle beta f Residual term of->
Is located in the residual matrix Δd β Line f, azimuth angle β in (equation (16)) h Residual terms of (2)
Is located in the residual matrix Δd β Line h of (a). Move the f and h rows to the residual matrix Δd β Re-calculating the right azimuth measurement value of two targets of the ith self-propelled ship model according to the azimuth matching algorithm (not in succession)>
and />
And generates a new matching sequence
(3) Left-right azimuth simultaneous re-matching
According to the above (1) and (2), the left and right azimuth angles are simultaneously matched.
According to the formula (20), the inter-target distances in the above three cases ((1), (2) and (3)) are calculated, and each case is calculated
Values. In three cases->
And taking the matching result corresponding to the minimum value as a final azimuth angle correction result. In three cases->
The re-matching process under three conditions is continued, after the iteration (re-matching) is carried out n times (generally set as 10 times), if the target matching misjudgment test standard still cannot be met, the iteration is terminated, and the azimuth angle data measured at the time are discarded; if the target matching misjudgment test standard is met, finding the +.>
And take->
The corresponding matching result is used as a final azimuth correction result.
In the embodiment, in step S5, the corrected left azimuth sequence is checked
Right azimuth sequence->
According to the formula (1) and the formula (2), calculating the stem target coordinates and the stern target coordinates of n self-propelled ship models during the first scanning after the test is started, wherein the ith self-propelled ship model stem coordinates are as follows
Stern coordinates are +.>
According to the numbering sequence of the self-propelled ship model, the corresponding ship head coordinates of the self-propelled ship model are sequentially put into a coordinate sequence +.>
In the method, the bow target coordinate sequences of n self-propelled ship models are obtained>
Similarly, the stern target coordinate sequences of n self-propelled ship models are obtained>
In this embodiment, in step S6,
1) To verify the corrected left azimuth sequence
Right azimuth sequence
The determined multi-target self-propelled ship model position is used as a new initial condition for the self-propelled ship model test.
2) Starting scanning for the 2 nd time by using LSR1 and LSR2, filling missing data again, executing azimuth matching algorithm, and checking and correcting azimuth to obtain left azimuth matching sequence for the 2 nd time
Right azimuth matching sequence->
And taking the multi-target self-navigation ship model position determined by the left azimuth matching sequence and the right azimuth matching sequence as an initial condition of 3 rd scanning data. And the like, the self-propelled ship model is scanned for a plurality of times.
3) In the scanning process of LSR1 and LSR2, the azimuth matching sequence of each time is calculated in sequence until testAnd (5) ending. Wherein, the left azimuth matching sequence of the w time is that
Right azimuth matching sequence is
4) According to the formulas (1) and (2), calculating coordinates of a bow target and a stern target of each self-propelled ship model in the self-propelled ship model test process to obtain a bow target coordinate sequence and a stern target coordinate sequence of n self-propelled ship models scanned each time, wherein the bow target coordinate sequence and the stern target coordinate sequence of the self-propelled ship model obtained by the w-th scanning are respectively
Finally obtaining a bow target coordinate sequence set C of n self-navigation ship models H ：/>
Coordinate sequence set C with stern target T ：/>
In the embodiment, in step S7, the bow target coordinate sequence set C of n self-propelled ship models is taken out H The bow target coordinate sequence obtained by the first scanning
Coordinate sequence of stern target->
From the sequence->
The bow target coordinates of the self-propelled ship model with the number of 1 are taken out>
Sequence of slavesColumn->
Tail target coordinates of self-propelled ship model with number 1 taken out
The coordinate obtained by scanning the 1 st time of the self-propelled ship model with the calculated number of 1 is +.>
wherein ,
similarly, the coordinate obtained by scanning the w th time of the self-propelled ship model with the calculated number of 1 is
wherein ,/>
The stem target coordinate obtained by the w-th scanning of the self-navigation ship model with the number of 1 is +.>
Stern target coordinates are +.>
Then the coordinate sequence of the self-navigation ship model with the number of 1 is obtained as (C1 1 ,C1 2 ,…,C1 w …); analogizing the method for obtaining the coordinate sequence of the self-propelled ship model with the number of 1 to obtain the coordinate sequences of all the self-propelled ship models in the whole test process; wherein the coordinate sequence of the self-propelled ship model with the number i is (Ci 1 ,Ci 2 ,…,Ci w ,…)；
The coordinate sequence (Ci) of the self-propelled ship model with the number i 1 ,Ci 2 ,…,Ci w …) sequentially taking out from left to right, displaying on the established rectangular coordinate system, and sequentially connecting coordinate points according to the sequence of taking out to obtain the operation of the self-propelled ship model with the number iA track; and similarly, according to the mode, generating the running tracks of other self-propelled ship models. Meanwhile, the data of the navigational speed, the drift angle and the like of the self-propelled ship model can be obtained according to the track of the self-propelled ship model and the time of the test operation. Therefore, tracking measurement of the motion trail of the multi-target self-propelled ship model is realized.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (8)
1. A multi-target self-navigation ship model track tracking and measuring method is characterized in that: the method comprises the following steps:
s1, before the test starts, sequentially arranging n self-propelled ship models so that the ship heads of the n self-propelled ship models face the same direction, respectively setting a ship head target and a ship tail target for the n self-propelled ship models, simultaneously scanning the ship head target and the ship tail target of the n self-propelled ship models by using two sets of scanners, and obtaining an initial left azimuth sequence G of the n self-propelled ship model targets 0 ：
With initial right angle sequence H 0 ：/>
Wherein n=1, 2,3, …, N; i=1, 2, …, n; i is the number of the self-propelled ship model; />
and />
The azimuth angle of the bow and the azimuth angle of the stern obtained by scanning the ith self-propelled ship model by one set of scannerA corner; />
and />
Respectively scanning a stern azimuth angle and a bow azimuth angle of the ith self-propelled ship model by another set of scanners; subscript of azimuth is the number of target;
s2, after the test is started, scanning the stem targets and the stern targets of the n self-propelled ship models to obtain left azimuth sequences G of the n self-propelled ship model targets 1 ：(α 1 ,α 2 ,…,α 2i-1 ,α 2i ,…,α 2n-1 ,α 2n ) And right azimuth sequence H 1 ：(β 1 ,β 2 ,…,β 2i-1 ,β 2i ,…,β 2n-1 ,β 2n )；
S3, calculating a left azimuth sequence G 1 With initial left azimuth sequence G 0 Is a residual matrix deltad of (d) α The method comprises the steps of carrying out a first treatment on the surface of the Calculating the right azimuth sequence H 1 With initial right angle sequence H 0 Is a residual matrix deltad of (d) β ；
S4, according to the residual error matrix delta d α For left azimuth sequence G 1 The order of the middle azimuth angles is adjusted to lead the left azimuth angle to match the affiliated target, thus obtaining a new left azimuth angle sequence
According to the residual matrix Deltad β For right azimuth sequence H 1 The order of the right azimuth angles is adjusted to enable the right azimuth angles to match the target to obtain a new right azimuth angle sequence +.>
S5, according to the new left azimuth sequence
Right azimuth sequence->
Calculating bow target coordinate sequences of n self-propelled ship models +.>
Coordinate sequence of stern target->
S6, respectively taking the new left azimuth sequence and the new right azimuth sequence scanned each time as an initial left azimuth sequence and an initial right azimuth sequence of the next scanning, analogizing in the steps S2-S5 until the test is finished, and finally obtaining a bow target coordinate sequence set C of n self-propelled ship models H Coordinate sequence set C with stern target T ；
S7, according to the bow target coordinate sequence set C of n self-propelled ship models H Coordinate sequence set C with stern target T And calculating the running tracks of the n self-propelled ship models.
2. The multi-target self-propelled ship model trajectory tracking measurement method according to claim 1, wherein the method comprises the following steps: in step S2, when the self-navigation ship model target is blocked, the scanned left azimuth sequence G: (alpha) 1 ,α 2 ,…,α k ,…,α p ) Or right azimuth sequence H: (beta) 1 ,β 2 ,…,β l ,…,β q ) The number of the middle azimuth angles is reduced, and then the left azimuth angle sequence or the right azimuth angle sequence is required to be complemented; wherein k and p are left azimuth subscripts, the values are positive integers, and k<p，p<2n; l and q are right azimuth subscripts, the values are positive integers, and l<q，q<2n。
3. The multi-target self-propelled ship model trajectory tracking measurement method according to claim 2, wherein the method comprises the following steps of: the left azimuth sequence G is complemented according to the following steps:
s31, calculating a left azimuth sequence G and an initial left azimuth sequence G 0 Residual matrix of (2)
S32, residual error matrix
The elements of the kth line are arranged in order from small to large, and the first two elements of the kth line are taken out as data pairs +.>
Calculating data pair difference->
Wherein u and v are the residual matrices +.>
Column u and column v;
s33, obtaining a residual matrix by analogy in the step S32
The data pair difference values of each row are combined into a data pair difference sequence +.>
S34, arranging the data pair difference values in the data pair difference value sequence from small to large, taking out the first 2n-p data pair difference values, and searching for left azimuth angles corresponding to the 2n-p data pair difference values respectively to fill in the left azimuth angle sequence;
the right azimuth sequence H is complemented according to the following steps:
s35, calculating a right azimuth sequence H and an initial right azimuth sequence H 0 Residual matrix of (2)
S36, residual error matrix
The elements of the first row are arranged in order from small to large, and the first two elements of the first row are taken out as data pairs +.>
Calculating data pair difference->
Wherein d and w are respectively the residual matrix +.>
Column d and column w;
s37, obtaining a residual matrix by analogy in the step S36
The data pair difference values of each row are combined into a data pair difference sequence +.>
S38, arranging the data pair difference values in the data pair difference value sequence from small to large, taking out the first 2n-q data pair difference values, and searching right azimuth angles corresponding to the 2n-q data pair difference values respectively to fill in the right azimuth angle sequence.
4. The multi-target self-propelled ship model trajectory tracking measurement method according to claim 1, wherein the method comprises the following steps: in step S3, a residual matrix Δd is determined according to the following formula α ：
Wherein the left azimuth sequence G 1 Is (alpha) 1 ,α 2 ,…,α 2i-1 ,α 2i ,…,α 2n-1 ,α 2n ) The method comprises the steps of carrying out a first treatment on the surface of the Initial left azimuth sequence G 0 Is that
Determining a residual matrix Δd according to the following formula β ：
Wherein the right azimuth sequence H 1 Is (beta) 1 ,β 2 ,…,β 2i-1 ,β 2i ,…,β 2n-1 ,β 2n ) The method comprises the steps of carrying out a first treatment on the surface of the Initial right azimuth sequence H 0 Is that
5. The multi-target self-propelled ship model trajectory tracking measurement method according to claim 1, wherein the method comprises the following steps: in step S4, a new left azimuth sequence is obtained according to the following steps
a. Determining a residual matrix Δd α Mid and left azimuth angle alpha 1 Azimuth in initial left azimuth sequence with minimal difference
Will be alpha 1 The position of the s-th target in the left azimuth sequence is adjusted to be +.>
wherein ,/>
The left azimuth angle corresponding to the s-th target of the self-propelled ship model; subscript s is the belonging target number; s represents the bow target when it is odd and the stern target when it is even; superscript 1 is the 1 st measurement;
b. deleting residual matrix Δd α Is used for determining a residual matrix delta d according to the 1 st row and the s th column α Mid and left azimuth angle alpha 2 Azimuth in initial left azimuth sequence with minimal difference
Will be alpha 2 The position of the r target in the left azimuth sequence is adjusted and is marked as +.>
Wherein r=1, 2, …,2n; />
A left azimuth angle corresponding to the r target of the self-propelled ship model; subscript r is the number of the target to which it belongs; r is odd and represents the bow target, and r is even and represents the stern target; superscript 1 is the 1 st measurement;
c. by analogy with step b, the left azimuth sequence G is adjusted 1 In other azimuth order, a new left azimuth sequence is obtained
Obtaining a new right azimuth sequence according to the following steps
e. Determining a residual matrix Δd β Middle and right azimuth angle beta 1 Azimuth in initial right azimuth sequence with minimal difference
Beta will be 1 The position of the s-th target in the right azimuth sequence is adjusted to be +.>
wherein ,/>
The right azimuth angle corresponding to the s-th target of the self-propelled ship model; subscript s is the belonging target number; s represents the stern target when it is odd, and the bow target when it is even; superscript 1 is the 1 st measurement;
f. deleting residual matrix Δd β Is used for determining a residual matrix delta d according to the 1 st row and the s th column β Middle and right azimuth angle beta 2 Azimuth in initial right azimuth sequence with minimal difference
Beta will be 2 The position of the r target in the right azimuth sequence is adjusted and is marked as +.>
Wherein r=1, 2, …,2n; />
A right azimuth angle corresponding to the r target of the self-propelled ship model; subscript r is the number of the target to which it belongs; r is odd number and represents stern target, r is even number and represents bow target; superscript 1 is the 1 st measurement;
g. by analogy with step f, the right azimuth sequence H is adjusted 1 In other azimuth sequences to obtain a new right azimuth sequence
6. The multi-target self-propelled ship model trajectory tracking measurement method according to claim 5, wherein the method comprises the following steps: for new left azimuth sequences
New right azimuth sequence +.>
The verification of the self-propelled ship model target to which the middle azimuth belongs comprises the following steps:
s41, calculating the bow coordinates of the ith self-propelled ship model
Stern coordinates->
wherein ,
/>
s42, calculating the distance between the bow target and the stern target of the ith self-propelled ship model
S43, judging
Whether or not it is greater than 3 sigma i The method comprises the steps of carrying out a first treatment on the surface of the If so, the azimuth angle corresponding to the ith self-navigation ship model target is wrong, and the sequence of azimuth angles in the azimuth angle sequence is required to be readjusted; otherwise, do nothing;
wherein ,Li Sigma is the actual distance between the targets of the ith self-propelled ship model i Is a discrete threshold for inter-target distance measurement.
7. The multi-target self-propelled ship model trajectory tracking measurement method according to claim 6, wherein the method comprises the following steps: determining a discrete threshold σ of inter-target distance measurements according to the following formula i ：
wherein ,
the j-th scanned distance between targets is the distance between the ship model i and the ship model i when the ship model is stationary before the test is started; m is the number of times the self-propelled ship model is scanned before starting the test; j=1, 2, …, M; l (L) i Is the actual distance between the ith self-propelled ship model targets.
8. The multi-target self-propelled ship model trajectory tracking measurement method according to claim 6, wherein the method comprises the following steps: in step S43, the order of azimuth angles in the azimuth sequence of the ith self-propelled ship model is readjusted according to the following steps:
s431, the left azimuth angle corresponding to the two targets of the ith self-propelled ship model
and />
Shift to left azimuth sequence G 1 And by analogy with steps a-b, again for the left azimuth sequence G 1 The order of the middle azimuth angles is adjusted to obtain the left azimuth sequence +.>
S432, according to left azimuth sequence
Right azimuth sequence
Step S41-S42 is performed to obtain a distance difference value
S433, right azimuth angles corresponding to two targets of the ith self-propelled ship model
and />
Shift to right azimuth sequence H 1 Finally, by analogy with step e-f, the right azimuth sequence H is again followed 1 The order of the middle azimuth angles is adjusted to obtain the right azimuth sequence +.>
S434, according to right azimuth sequence
And left azimuth sequence
Step S41-S42 is performed to obtain a distance difference value
S435 according to left azimuth sequence
Right azimuth sequence
Steps S41-S42 are performed to obtain the distance difference +.>
S436, calculating a minimum value min in the distance difference value A, B and C;
s437, judging whether the minimum value min is larger than 3 sigma i The method comprises the steps of carrying out a first treatment on the surface of the If so, continuing to execute the steps S431-S436 until min is less than or equal to 3σ i When the execution times exceeds 10 times, discarding the scanned left and right azimuth sequences; otherwise, the azimuth angle adjustment result corresponding to the minimum value min is used as a final azimuth angle correction result.
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