CN112762935B - Positioning method and system based on hull attitude monitoring - Google Patents
Positioning method and system based on hull attitude monitoring Download PDFInfo
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- CN112762935B CN112762935B CN202011539836.0A CN202011539836A CN112762935B CN 112762935 B CN112762935 B CN 112762935B CN 202011539836 A CN202011539836 A CN 202011539836A CN 112762935 B CN112762935 B CN 112762935B
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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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
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention discloses a positioning method and a positioning system based on ship body attitude monitoring, which comprises the steps of collecting ship body attitude monitoring data for preprocessing, dividing a data set and setting an input vector; constructing a positioning model based on a time series strategy, and performing parameter confirmation on an input vector; positioning prediction training is carried out on the positioning model by combining the LS-VSM and the data set; and setting a positioning training threshold, if the positioning training threshold is met, outputting a positioning model after training is finished, and inputting a test set for testing to obtain a positioning predicted value. According to the invention, by combining a positioning model with RTK real-time differential positioning, centimeter-level hull positioning is realized, the hull attitude is monitored in real time, the real-time hull attitude is broadcasted, each data of a ground station is received, transmitted, checked and stored in real time, data information used by each ship is stored in a cloud end, checking and analysis can be invoked, and a wireless data terminal and 5G of an internet of things (LOT) are supported, so that the hull positioning accuracy is improved, and the real-time performance and wide applicability of hull monitoring are improved.
Description
Technical Field
The invention relates to the technical field of ship body attitude monitoring and positioning, in particular to a positioning method and a positioning system based on ship body attitude monitoring.
Background
When a ship sails, a ship body is influenced by factors such as load weight, sea conditions, speed and course, changes in postures such as pitching, rolling and heaving are generated under the comprehensive action of wind, waves and currents, the vertical height between the ship body and a sensor arranged outside an upper building and above the water surface is changed due to the instantaneous changes of the postures of the ship body, the vertical height between the ship body and the water surface can be obtained in real time in a direct measurement or indirect calculation mode, the direct measurement mode usually adopts a laser ranging or ultrasonic ranging principle, and a special optical sensor and an acoustic sensor need to be installed, so that the sensors need to be regularly cleaned, and the equipment installation and maintenance cost is high. The indirect calculation method usually adopts an Inertial Measurement Unit (IMU) to measure the attitude of the hull in real time, or adopts a GNSS to measure the elevation of multiple antennas to calculate the attitude of the hull in real time, and then converts the vertical height of the sensor from the water surface.
Scenic spot pleasure-boat hull positioner mainly uses GPS location as the owner, and ordinary GPS positioning accuracy is relative great with RTK real-time differential positioning (centimetre level) error, and does not have hull gesture monitoring and data real-time receiving and dispatching memory function, breaks down if the hull, and the hull gesture changes, can not in time take counter-measure, is a potential danger to personnel on the ship.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above-mentioned conventional problems.
Therefore, the invention provides a positioning method and a positioning system based on ship attitude monitoring, which can solve the problems of no ship attitude monitoring, real-time data receiving and sending and large GPS positioning error.
In order to solve the technical problems, the invention provides the following technical scheme: collecting hull attitude monitoring data for preprocessing, dividing a data set, and setting an input vector; constructing a positioning model based on a time series strategy, and performing parameter confirmation on the input vector; performing location prediction training on the location model by combining the LS-VSM and the data set; and setting a positioning training threshold, if the positioning training threshold is met, outputting the positioning model after training, and inputting a test set for testing to obtain a positioning predicted value.
As a preferable scheme of the positioning method based on the ship body attitude monitoring, the method comprises the following steps: the localization model derives an objective function based on the time series strategy, including,
wherein, t n For optional in Lagrange multiplier vectorsA positive component, H (x) d Xn) is a kernel function matrix, x d For the d-th input vector, x n The method comprises the steps of monitoring an input vector for a ship body attitude corresponding to a ship body attitude multiplier vector tn which is not zero, wherein d is 1, 2.
As a preferable scheme of the positioning method based on the ship body attitude monitoring, the method comprises the following steps: the parameter validation includes selecting a radial basis function of a least squares support vector machine as a target matrix, as follows,
wherein x ═ { x ═ x 1 ；x 2 ；…；x 14 }: a state characteristic matrix formed by the ship attitude characteristic vectors, y: hull attitude normal characteristic vector, σ: nuclear width, reflecting distribution, range characteristics.
As a preferable scheme of the positioning method based on the ship body attitude monitoring, the method comprises the following steps: the training comprises initializing a penalty parameter C and the sigma, and training and testing the objective function by using the data set; setting a precision requirement, and if the precision of the target function does not meet the requirement, carrying out assignment optimization on the C and the sigma according to errors until the precision of the test data meets the precision requirement; setting a threshold value and outputting the trained target function as the positioning model.
As a preferable scheme of the positioning method based on the ship body attitude monitoring, the method comprises the following steps: the time series strategy is a group of one-dimensional observed values, and when phase space reconstruction is required by combining the least square support vector machine, the input vector is constructed,
X(k)＝[x(k)，x(k-τ)，…，x(k-(D-1)τ)]
where D is the embedding dimension of the phase space reconstruction, τ is the three-dimensional coordinates of the phase space reconstruction, and x (k) is the input-output vector pair.
As a preferable scheme of the positioning system based on hull attitude monitoring according to the present invention, wherein: the system comprises a ground station, a navigation module and a data transmission module, wherein the ground station monitors the current position of a ship through a posture monitoring module, a positioning module and the data transmission module, and when the ship is driven out of a specified area and the posture of the ship is changed due to stormy waves, water waves and obstacles, namely the inclination angle of a ship body exceeds a certain angle, the ground station gives an alarm; the attitude monitoring module is arranged on the upper surface of the ground station and comprises a three-axis gyroscope, a three-axis accelerometer and a three-axis electronic compass, and is used for outputting calibrated angular velocity, acceleration and magnetic data through an internal main processor, measuring a motion attitude based on a sensor data algorithm of a quaternion and outputting zero-drift three-dimensional motion attitude data expressed by the quaternion and an Euler angle in real time; the positioning module is embedded in the attitude monitoring module and used for carrying a carrier phase dynamic real-time difference technology, providing a three-dimensional coordinate of an observation point in real time and sending the carrier phase acquired by the reference station to the user station for calculating a difference and a coordinate; the data transmission module is arranged in parallel and connected with the ground station, the attitude monitoring module and the positioning module, comprises a radio data transmission module and a 4G data transmission module, and is used for providing data transmission service for each module and building a connecting channel.
As a preferable scheme of the positioning system based on hull attitude monitoring according to the present invention, wherein: the radio data transmission comprises a receiving and transmitting unit, an exciter unit, a power amplifier unit, a control unit, a power supply unit and a baseband unit, wherein the radio data transmission adopts a full duplex mode and a frequency division duplex mode, and data receiving and transmitting are carried out after a shipborne end and a ground station end are connected.
As a preferable scheme of the positioning system based on hull attitude monitoring according to the present invention, wherein: the 4G data transmission module is used for carrying out wireless long-distance data transmission, adopts a high-performance communication processor and a wireless end, uses a real-time operation end as a software supporting platform, is directly connected with serial port equipment, changes 4G transmission through a serial port, realizes wireless long-distance data transmission, packs serial port data of an onboard controller into TCP or UDP data through a DTU, carries out remote transmission to a server and a ground station, integrates a u-blox M8GNSS receiver and an independent GNSS antenna interface in advance, and provides highly reliable and accurate positioning data parallel to LTE communication.
As a preferable scheme of the positioning system based on hull attitude monitoring according to the present invention, wherein: the positioning module also comprises a phase difference observation value formed by the carrier phase of the GPS satellite received by the user station and the carrier phase from the reference station for real-time processing, and centimeter-level positioning of the ship is achieved by fusing the attitude, the RTK positioning data and the auxiliary sensor information.
The invention has the beneficial effects that: according to the invention, by combining a positioning model with RTK real-time differential positioning, centimeter-level hull positioning is realized, the hull attitude is monitored in real time, the real-time hull attitude is broadcasted, each data of a ground station is received, transmitted, checked and stored in real time, data information used by each ship is stored in a cloud end, checking and analysis can be invoked, and a wireless data terminal and 5G of an internet of things (LOT) are supported, so that the hull positioning accuracy is improved, and the real-time performance and wide applicability of hull monitoring are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic flow chart of a positioning method based on hull attitude monitoring according to a first embodiment of the present invention;
fig. 2 is a schematic diagram of an experimental comparison output curve of a positioning method based on hull attitude monitoring according to a first embodiment of the invention;
fig. 3 is a schematic block structural distribution diagram of a positioning system based on hull attitude monitoring according to a second embodiment of the invention;
fig. 4 is a schematic diagram of the main principle of a positioning system based on hull attitude monitoring according to a second embodiment of the invention;
FIG. 5 is a schematic view of an attitude monitoring module of a positioning system based on hull attitude monitoring according to a second embodiment of the invention;
FIG. 6 is a schematic view of a positioning analysis of a positioning system based on hull attitude monitoring according to a second embodiment of the present invention;
FIG. 7 is a schematic view of a positioning module of a positioning system based on hull attitude monitoring according to a second embodiment of the invention;
fig. 8 is a schematic diagram of a wireless data transmission module of a positioning system based on hull attitude monitoring according to a second embodiment of the invention;
fig. 9 is a schematic diagram of a 4G electrical data transmission module of a positioning system based on hull attitude monitoring according to a second embodiment of the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
The present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially in general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Meanwhile, in the description of the present invention, it should be noted that the terms "upper, lower, inner and outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operate, and thus, cannot be construed as limiting the present invention. Furthermore, the terms first, second, or third are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected and connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to fig. 1 and 2, for a first embodiment of the present invention, there is provided a positioning method based on hull attitude monitoring, including:
s1: collecting ship body attitude monitoring data for preprocessing, dividing a data set, and setting an input vector. Wherein, it is required to be noted that:
the time series strategy is a group of one-dimensional observed values, phase space reconstruction is needed when a least square support vector machine is combined, and then input vectors are constructed,
X(k)＝[x(k)，x(k-τ)，…，x(k-(D-1)τ)]
where D is the embedding dimension of the phase space reconstruction, τ is the three-dimensional coordinates of the phase space reconstruction, and X (k) is the input-output vector pair;
the data set includes a training set and a test set.
S2: and constructing a positioning model based on a time series strategy, and performing parameter confirmation on the input vector. It should be noted that, the obtaining of the objective function by the positioning model based on the time series strategy includes:
wherein, t n For an optional positive component, J (x), of the Lagrange multiplier vector d ，x n ) Is a kernel function matrix, x d For the d-th input vector, x n For Lagrange multiplier vectors t not zero n The corresponding hull attitude monitoring input vector is d 1,2,.. the m, n 1,2,.. the m, m is the hull attitude sample capacity, and b is the positioning prediction offset value.
Further, the parameter confirmation comprises:
the radial basis function of the least squares support vector machine is selected as the target matrix, as follows,
wherein x ═ { x ═ x 1 ；x 2 ；…；x 14 }: a state characteristic matrix formed by the ship attitude characteristic vectors, y: hull attitude normal characteristic vector, σ: nuclear width, reflecting distribution, range characteristics.
S3: and performing positioning prediction training on the positioning model by combining the LS-VSM and the data set. It should be noted that the training includes:
initializing penalty parameters C and sigma, and training and testing the target function by using a data set;
setting a precision requirement, if the precision of the target function does not meet the requirement, carrying out assignment optimization on C and sigma according to errors until the precision of the test data meets the precision requirement;
and setting a threshold value and outputting a trained objective function as a positioning model.
S4: and setting a positioning training threshold, if the positioning training threshold is met, outputting a positioning model after training is finished, and inputting a test set for testing to obtain a positioning predicted value.
It should also be noted that, in the conventional hull attitude processing method, a shipborne GNSS antenna and a GNSS receiver are used to observe the signal-to-noise ratio of GNSS signals, invert the height of the GNSS antenna from the horizontal plane, fit the hull attitude plane, calculate the roll angle, the pitch angle and the heave displacement, and map the design coordinates of the mounting point of the sensor outside the hull and the lowest point of the hull to the hull attitude plane through rotation and translation to obtain the vertical height after coordinate transformation, so as to calculate the change of the hull attitude.
In order to better verify and explain the technical effects adopted in the method, the embodiment selects the traditional hull attitude processing method and adopts the method to carry out comparison test, compares the test results by means of scientific demonstration, and verifies the real effect of the method.
The traditional hull attitude processing method is low in positioning accuracy, only approximate attitude change can be calculated, and in order to verify that the method has higher positioning accuracy compared with the traditional method, the attitude change and the positioning of the simulated ship are measured and compared in real time by adopting the traditional method and the method.
And (3) testing environment: the simulation ship runs on an MATLB simulation platform to simulate running and simulate sailing, draught and settlement scenes, field statistical data collected by ships moving to and from the Yangtze river basin are used as test samples, the calculation operation of the traditional method is respectively utilized to carry out testing and obtain test results, the method of the invention is adopted, a model program is introduced to start automatic test equipment, simulation data are obtained according to the test results, 100 groups of data are tested in each method, the time for obtaining each group of data is calculated, and error comparison calculation is carried out on the actual predicted value input by simulation.
Referring to fig. 2, a solid line is a curve output by the method of the present invention, a dotted line is a curve output by a conventional method, and according to the schematic diagram of fig. 2, it can be seen intuitively that the solid line and the dotted line show different trends along with the increase of time, the solid line shows a stable rising trend in the former period compared with the dotted line, although the solid line slides down in the latter period, the fluctuation is not large and is always above the dotted line and keeps a certain distance, and the dotted line shows a large fluctuation trend and is unstable, so that the efficiency of the solid line is always greater than that of the dotted line, i.e. the real effect of the method of the present invention is verified.
Example 2
Referring to fig. 3 to 9, a second embodiment of the present invention, which is different from the first embodiment, provides a positioning system based on hull attitude monitoring, including: ground station 100, attitude monitoring module 200, positioning module 300, and data transmission module 400.
Referring to fig. 5, the attitude monitoring module 200 is disposed on the upper surface of the ground station 100, and includes a three-axis gyroscope 201, a three-axis accelerometer 202, and a three-axis electronic compass 203, and the attitude monitoring module 200 is configured to output calibrated angular velocity, acceleration, and magnetic data through an internal main processor, perform motion attitude measurement based on a quaternion sensor data algorithm, and output zero-drift three-dimensional motion attitude data expressed by quaternion and euler angle in real time.
Referring to fig. 6 and 7, the positioning module 300 is embedded in the attitude monitoring module 200, and is configured to carry a carrier phase dynamic real-time difference technique, provide a three-dimensional coordinate of an observation point in real time, and send a carrier phase acquired by a reference station to a subscriber station for performing a difference calculation on a coordinate; the user station receives the carrier phase of the GPS satellite and the carrier phase from the reference station to form a phase difference observation value for real-time processing, and centimeter-level positioning of the ship is achieved by fusing the attitude, the RTK positioning data and the auxiliary sensor information.
Referring to fig. 8 and 9, the data transmission module 400 is connected to the ground station 100, the attitude monitoring module 200, and the positioning module 300 in parallel, and includes a radio data transmission 401 and a 4G data transmission 402 for providing data transmission service for each module and building a connection channel; the radio data transmission 401 comprises a receiving and transmitting unit 401a, an exciter unit 401b, a power amplifier unit 401c, a control unit 401d, a power supply unit 401e and a baseband unit 401f, and adopts a full duplex and frequency division duplex mode, and data receiving and transmitting are performed after a ship-borne end and a ground station end are connected; the 4G data transmission module 402 is used for wireless long-distance data transmission, a high-performance communication processor and a wireless end are adopted, a real-time operation end is used as a software supporting platform, the serial port device is directly connected, 4G transmission is converted through a serial port, wireless long-distance data transmission is achieved, serial port data of the onboard controller are packaged into TCP or UDP data through a DTU, remote transmission is conducted to a server and the ground station 100, a u-blob M8GNSS receiver and an independent GNSS antenna interface are integrated in advance, and highly reliable and accurate positioning data parallel to LTE communication are provided.
It should be further noted that, in this embodiment, the positioning model forms a package according to C + language programming, and is imported into the positioning module 300, and the positioning module solves coordinates in combination with the carrier phase, so as to improve the positioning accuracy of the monitoring ship.
It should be recognized that embodiments of the present invention can be realized and implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer-readable storage medium configured with the computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, according to the methods and figures described in the detailed description. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Further, the operations of processes described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or combinations thereof. The computer program includes a plurality of instructions executable by one or more processors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable interface, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be embodied in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optically read and/or write storage medium, RAM, ROM, or the like, such that it may be read by a programmable computer, which when read by the storage medium or device, is operative to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein. A computer program can be applied to input data to perform the functions described herein to transform the input data to generate output data that is stored to non-volatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.
As used in this application, the terms "component," "module," "system," and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, or software in execution. For example, a component may be, but is not limited to being: a process running on a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of example, both an application running on a computing device and the computing device can be a component. One or more components can reside within a process and/or thread of execution and a component can be localized on one computer and/or distributed between two or more computers. In addition, these components can execute from various computer readable media having various data structures thereon. The components may communicate by way of local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., data from one component interacting with another component in a local system, distributed system, and/or across a network such as the internet with other systems by way of the signal).
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, 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 or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (1)
1. A positioning method based on ship attitude monitoring is characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
collecting hull attitude monitoring data for preprocessing, dividing a data set, and setting an input vector;
the time series strategy is a group of one-dimensional observed values, and when phase space reconstruction is required by combining a least square support vector machine, the input vector is constructed,
X(k)＝[x(k)，x(k-τ)，…，x(k-(D-1)τ)]
where D is the embedding dimension of the phase space reconstruction, τ is the three-dimensional coordinates of the phase space reconstruction, and X (k) is the input-output vector pair;
constructing a positioning model based on a time series strategy, and performing parameter confirmation on the input vector;
the parameter confirmation comprises:
the radial basis function of the least squares support vector machine is selected as the target matrix, as follows,
wherein x ═ { x ═ x 1 ；x 2 ；…；x 14 }: a state characteristic matrix formed by the ship attitude characteristic vectors, y: hull attitude normal characteristic vector, σ: nuclear width, reflecting distribution, range characteristics;
performing location prediction training on the location model in combination with the LS-VSM and the data set;
the training comprises the following steps:
initializing penalty parameters C and sigma, and training and testing an objective function by using the data set;
setting a precision requirement, and if the precision of the target function does not meet the requirement, carrying out assignment optimization on the C and the sigma according to errors until the precision of the test data meets the precision requirement;
setting a threshold value and outputting the trained target function as the positioning model;
setting a positioning training threshold, if the positioning training threshold is met, outputting the positioning model after training, and inputting a test set for testing to obtain a positioning predicted value;
the positioning model obtains an objective function based on the time series strategy, and the method comprises the following steps:
wherein, t n For an optional positive component, J (x), of the Lagrange multiplier vector d ，x n ) Is a kernel function matrix, x d For the d-th input vector, x n For Lagrange multiplier vectors t not zero n The corresponding hull attitude monitoring input vector is d 1,2,.. the m, n 1,2,.. the m, m is the hull attitude sample capacity, and b is the positioning prediction offset value.
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| CN202011539836.0A CN112762935B (en) | 2020-12-23 | 2020-12-23 | Positioning method and system based on hull attitude monitoring |
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