JPS63131087A - Abnormal value compensation system for coming alongside quay guidance assisting system - Google Patents

Abstract

PURPOSE:To enable the realization of normal measurement, by providing an abnormal value-normal value replacing means to direct the outputting of an abnormal value as normal value, stopping the calculation of an estimated value when the abnormal value is detected continuously at a preset frequency. CONSTITUTION:A transmitting wave formed at a front end section 1 is outputted to a transmitter/receiver 2. A received wave from the transmitter/receiver 2 is inputted into the front end section 1 and a required ultrasonic wave reflection time is detected to be outputted as measuring data. A speed or the like of a ship is calculated a measuring data processing section 3 from the measuring data and displayed 8. Based on the reception wave inputted, and abnormal value detection means 5 determine whether the measured data is within an allowable range set by an allowable range alteration means 4 and when an abnormal value is detected, it outputs an abnormal value state. When the abnormal value is detected, an estimated value generation means 6 calculates an estimated value based on the existing data. An abnormal-normal value replacing means 7 directs a processing section 3 to output the abnormal value as normal value, stopping the calculation of the estimated value when the detection of the abnormal value reaches a preset frequency continuously.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention measures the distance, speed, etc. of a ship attempting to berth using ultrasonic waves, notifies the ship, and guides the ship to berth at an appropriate speed. This paper relates to an abnormal value compensation method for ultrasonic measurement systems in support systems.

[Prior Art] In this type of berthing guidance support system, the berthing speed of a ship is generally measured by detecting the distance at a predetermined sampling period using an ultrasonic range finder and measuring the change in this distance over time. ing.

The above ultrasonic range finder emits ultrasonic pulses from the quay toward the ship, receives the reflected waves that are reflected back from the ship's hull, and measures the round trip time and sound speed.

Calculate the distance from In this case, the round-trip time is calculated by using the transmission of the transmitted wave as a trigger to open the gate, the reception of the reflected wave as a trigger to close the gate, and while the gate is open, the reference clock pulse is output from the clock circuit. It is obtained by counting the number of times and calculating the time based on the counted value.

By the way, this type of berthing guidance support system is prone to the possibility that at the site where it is installed, the transmitted waves are reflected in front of the target ship's hull due to, for example, bubbles being drawn in by the tugboat's propeller, fish, floating objects, etc. things tend to happen. When such a reflection is measured, an abnormal value is obtained, that is, the gate closes in a shorter time than the originally required time, resulting in an abnormal measured value.

Such a situation may occur frequently depending on the situation at the site, and some kind of countermeasure is required.

Conventionally, as a countermeasure for this, when a normal measurement value cannot be obtained due to an abnormal value, the distance etc. calculated based on the previous measurement value is displayed in a fixed manner, or the maximum display pressure # (fixed value) is displayed. It performs processing such as displaying or even interrupting display.

[Problems to be Solved by the Invention] However, the above-mentioned conventional abnormality countermeasures rely on fixed value display or display interruption, so the times when normal measured values can be obtained and times when they cannot be obtained can occur within a short period of time. If repeated, the display output may change drastically or the values may fluctuate. This invention has been made to solve the above-mentioned problems, and its first purpose is to , even when normal measurement values cannot be obtained.
Estimated values can be calculated and displayed based on known data obtained up to that point, and even if normal measured values are not obtained repeatedly within a short period of time, continuous An object of the present invention is to provide an abnormal value compensation method for a berthing guidance support system, which can display data that is easy to use as data for guiding a ship, and in which the so-called wildness of the displayed value is not noticeable. be.

By the way, the known data that serves as the basis for calculating the estimated value is
Because it is based on measured values up to that point, it includes measurement errors. In determining whether a measured value is normal or not, a normal value may be determined to be an "abnormal value" due to this error, especially if the allowable range is narrow. In addition, if abnormal values occur continuously, the measurement point of the known measurement data that is the basis of the estimated value will move away from the current time, so the possibility that the estimated value will contain a large error cannot be denied.Furthermore, as the known data, the estimated value or a moving average value including estimated values may be used. In that case, the more abnormal values continue, the larger the error in the estimated value will be. As a result, the error when detecting abnormal values from measured values becomes large.

Due to this phenomenon, as described above, the next measured value, which is originally a normal value, may be determined to be an "abnormal value" due to an error in the reference value. Furthermore, the error in this reference value increases as abnormal values continue, and it is easy to fall into a vicious cycle in which the error when detecting abnormal values from measured values increases sequentially.

Therefore, a second object of the present invention is to replace the abnormal value with a normal value when an abnormal value is detected consecutively a preset number of times, and to detect abnormal values by consecutive abnormal values. It is an object of the present invention to provide an abnormal value compensation method for a berthing guidance assistance system that can break away from the vicious cycle of increasing errors and realize normal measurements.

[Means for Solving the Problems] The first and second inventions of the present application measure the distance, speed, etc. from the shore IV of the vessel attempting to berth using ultrasonic waves, notify the occupying vessel of the measured distance, and determine the appropriate speed. As a means for solving the above-mentioned problems in an abnormal value compensation method for an ultrasonic measurement system in a guidance assistance system for berthing, the means shown in FIG. 1 is provided.

The first and second inventions, for example, as shown in FIG.
A front end unit that forms transmission waves to a transducer and receives reception waves from the transducer, detects the time required for ultrasonic reflection, and outputs it as measurement data, and The present invention is applied to a berthing guidance assistance system having an ultrasonic measurement system including a measurement data processing unit that calculates the speed of the vehicle, distance to the quay, etc., and outputs it as display data, and a display unit that displays the display data. .

As a means for solving the above problem, the first invention of the present application, as shown in FIG. an estimated value generating means that calculates an estimated value based on known data obtained up to that point; and when the abnormal value is detected a preset number of times in succession, Abnormal value normal value replacement means for instructing to stop and output the abnormal value as a normal value.

Further, as a means for solving the above problem, the second invention of the present application, as shown in FIG. an estimated value generating means for calculating an estimated value based on known data obtained up to that point when the abnormal value is detected; (1) when the abnormal value is continuously detected for a preset time, the estimated value; Abnormal value normal value replacement means for instructing to stop calculation of the abnormal value and output the abnormal value as a normal value.

The known data includes a previous measurement value, a moving average value of measurement values up to the previous time, and the like. If the previous measured value is an abnormal value, that data cannot be used, so a previous normal value is used, or a moving average value that includes the normal value is used. Note that, depending on the case, an estimated value or a moving average value including the estimated value may be used as the known data.

Further, as shown in FIG. 1, the present invention has an abnormal value detection means configured to detect the presence or absence of an abnormality in data measured based on input received waves by comparing it with a preset tolerance range. Additionally, as shown in FIG. 1, an allowable range changing means for changing the allowable range of the abnormal value detecting means depending on the distance can be added.

The distance at which the above tolerance range is changed is generally set at the boundary of two stages, far and near, but it is common to set the distance at the boundary of two stages, near and far, but it is also possible to divide the distance into multiple stages.
A configuration may be adopted in which the allowable range is sequentially set narrower from a long distance to a short distance.

Furthermore, in the first invention of the present application, a function can be added to the abnormal value normal value replacement means to change the set value of the number of consecutive abnormal values according to the distance from the quay. This feature is
The transmission period of the transmission wave, ie.

It is suitable to provide this when the sampling period is changed according to the distance from the quay. For example, the number of times is set to be small in the case of a long distance where the transmission period is long, and the number of times is set to be increased in the case of a short distance where the transmission period is short.

The point at which the set value of the consecutive number of times is changed can be matched with the case of the above-mentioned allowable range.

[Operation] In the problem-solving means of the first and second inventions of the present application configured as described above, the abnormal value detection means checks whether or not there is an abnormality in the measured data based on the input received wave, and detects whether there is an abnormality. In some cases, it is determined to be an "abnormal value" and output to that effect,
For example, output abnormal value status. The presence or absence of this abnormality is determined, for example, when it has significantly changed compared to known data obtained up to that point.

- For example, if an ultrasonic transmission wave is reflected by a floating object in front of the target ship, known data indicates that the ultrasonic wave will travel back and forth in an extremely short period of time, so it is determined to be abnormal.

Further, in determining the presence or absence of an abnormality, a certain tolerance range is set for the known data, and if the measured data is within this tolerance range, it is determined that there is no abnormality. This tolerance range may be fixed, but it may also be varied depending on the current position of the ship, that is, the distance from the quay.For example, the tolerance range may be set to
Set it narrower for short distances and wider for far distances. As a result, while the error increases at long distances, the occurrence of abnormal values decreases.On the other hand, at short distances, the error decreases, making it safer.

When the abnormal value is detected, the estimated value generating means calculates the estimated value based on known data obtained up to that point. The detection of the abnormal value can be communicated, for example, by the status described above. This status is
The known data, which may be input directly or indirectly via the measurement data processing section, may be held by itself or may be held at the measurement data processing section. . As this known data, the previous value, moving average value, etc. are used, similar to the above-mentioned abnormal value detection means.

For example, the estimated value calculates the distance traveled by the ship using known speed data and assuming that the ship is moving at the same speed as the known data in the time between the previous measurement and the current measurement. The estimated distance is calculated by subtracting the calculated travel distance from the previous distance.

The calculated estimated value is sent via the measurement data processing section or directly and displayed on the display section.

In the first invention, the abnormal value normal value replacement means monitors whether the abnormal value is detected consecutively a preset number of times. Then, when abnormal value detection reaches a preset number of consecutive times, an instruction is given to stop calculation of the estimated value and output the abnormal value as a normal value. This instruction is given to the measurement data processing section. That is, the measurement data processing section is instructed to make the currently detected abnormal value a normal value.

When changing the set value of the number of consecutive abnormal values depending on the distance from the quay, for example, it is changed in accordance with a command to change the transmission cycle of the transmitted wave.

Further, in a second aspect of the present invention, it is monitored whether or not the abnormal value is continuously detected for a preset period of time.

Then, when abnormal value detection continues for a preset time, the calculation of the estimated value is stopped.

Instructs to output the abnormal value as a normal value. This instruction is given to the measurement data processing section. That is,
Instructs the measurement data processing unit to make the currently detected abnormal value a normal value.

Note that the above setting time can be left as is even when changing the transmission period of the transmission wave, that is, the sampling period according to the distance from the quay.In this case, in the case of a long distance transmission period, , the number of consecutive transmissions decreases, and increases in the case of short distances with short transmission cycles.

Setting the set time constant in this manner is advantageous when dealing with the occurrence of abnormal values due to causes unrelated to distance, such as migration of fish.

[Example] Embodiments of the present invention will be described with reference to the drawings.

Configuration of First Embodiment> FIG. 2 shows the configuration of a first embodiment of the abnormal value compensation system of the berthing guidance assistance system of the present invention.

The abnormal value compensation system of the embodiment shown in the figure includes a microcomputer as the main part, and this microcomputer is responsible for forming a transmission wave to a transducer 6 and receiving a reception wave from the transducer 6. a front-end section 5 that detects the time required for ultrasound reflection and outputs it as measurement data; a keyboard 8 that inputs data to the microcomputer; and a display device that outputs information formed by the microcomputer. It is configured by connecting 9.

”-The microcomputer includes a microprocessor 1 that executes various processes such as calculation, comparison, judgment, and control of input data, a ROM 2 that stores the operating program of the microprocessor 1, a work area of the microprocessor 1, and a ROM 2 that stores operating programs for the microprocessor 1. It is comprised of a RAM 3 for storing input data, an input/output port for connection to the keyboard 8 and display device 9, and a bus 4 for connecting these.

In addition to functioning as a measurement data processing section, this microcomputer also functions as an abnormal value detection means, an estimated value generation means, and an abnormal value normal value replacement means among the elements constituting the problem solving means of the present invention described above. . In this embodiment, it also functions as a tolerance range changing means.

The microcomputer is provided with a counter for counting the number of consecutive abnormal values when used as abnormal value normal value replacement means. This counter can be formed by either hardware or software, but in this embodiment, it is set by software.

As shown in FIG. 3, the front end unit 5 includes a transmitting circuit 51, a receiving circuit 52, a time measuring circuit 53 that measures the time required for ultrasonic round trip from transmitted and received signals, and a timing signal generating circuit 54. .

The transmission circuit 51 transmits pulses in the form of burst pulses at regular time intervals according to the transmission timing from the timing signal generation circuit 54.

In this embodiment, the time measurement circuit 53 includes a time measurement gate GA that opens according to the transmission timing and closes according to the reception signal, and a counter CM that counts clock pulses that are input while the gate GA is open. Ru.

The receiving circuit 52 performs processing such as noise discrimination and waveform shaping, and outputs a pulsed received signal. Note that it is possible to adopt a predictive gate method in which reception is enabled only in a time period centered around the time when the current reflected wave is predicted to arrive, based on the previous reflection time and reception time. According to this method, noise pulses that are incident at times other than the predicted time can be removed.

The timing signal generation circuit 54 generates signals such as transmission timing and gate opening/closing timing to form timing signals required in each part of the front end section 5.

Effects of the First Embodiment> Next, the present embodiment configured as described above will be described with reference to the above-mentioned figures and FIG. 4.

, t-st=MM41A〒I+ The front end unit 5 transmits and receives ultrasonic pulses, measures the round trip time from transmission to reception, and outputs measurement data.

The ultrasonic waves are transmitted from the transmission circuit 51 as burst pulses at regular time intervals.

The reflected wave is received by the receiving circuit 52 after the transmitted wave is transmitted and before the next transmission. That is, the receiving circuit 52 receives the signal after a preset time has elapsed based on the transmission timing from the timing signal generating circuit 54.

During the time period before the next transmission wave is sent, the reception gate is opened and the reception gate is on standby to enable reception of the reflected wave. During this period, when a reflected wave enters the transducer 6, the reflected signal is input to the receiving circuit 52.The receiving circuit 52 performs processing such as discrimination from noise and waveform shaping to convert the 0 reflected signal into a pulse-like signal. It is sent to the time measurement circuit 53 as a received signal.

The time measurement circuit 53 opens the time measurement gate GA according to the transmission timing from the timing signal generation circuit 54, and the time measurement circuit 53 opens the time measurement gate GA according to the transmission timing from the timing signal generation circuit 54.
The clock pulses sent from the timing signal generation circuit 54 that have passed through A are counted.

Based on this count, the time required for the ultrasonic waves to travel back and forth is measured.

This measurement data is sent to the microprocessor 1 via the bus 4.

Thereafter, processing moves from the front end section 5 to the microprocessor 1. The processing by this microprocessor 1 will be explained with reference to the flowchart shown in FIG.

The microprocessor l first takes in measurement data from the time measurement circuit 53 (step l).

Further, the microprocessor l checks whether the previous value (or the moving average value up to the previous time) is closer or farther than a preset distance, and if it is a long distance, it directly uses a wide allowable range. on the other hand.

If the distance is short, the narrow tolerance range is read from the ROM2 and set in the RAM3 as a new tolerance range (step 2.3).In this embodiment, the set distance is 30 meters,
The allowable range is set to speed ratio III■ and short distance 0.5■.

Next, the microprocessor 1 checks whether this measurement data is an abnormal value (step 4). Whether this is an abnormal value is determined by comparing it with the previous value (or moving average value up to the previous time) stored in the RAM 3 and checking whether the measured value has changed significantly. That is, subtraction is performed between the measured value and the previous value, and whether or not the difference is within the above-mentioned tolerance range is used to detect whether or not there is an abnormality. If the measured value is outside the above-mentioned allowable range, it is determined to be "abnormal" and an abnormal value status is output.

Possible causes of this situation are 1. For example, ultrasonic waves are reflected by migrating fish or floating objects, and the ultrasonic waves return before the ship, resulting in a measurement value that is shorter than the actual position of the ship. It depends.

If there is no abnormality, the microprocessor l performs normal arithmetic processing based on the captured measurement data, that is, calculates data such as distance and speed (step 8). The speed is calculated from the difference between the previous distance and the current distance, and the elapsed time from the previous measurement to the current measurement.

This elapsed time corresponds to the above-mentioned transmission timing interval. Therefore, it is possible to count and measure the clock pulses output between each transmission timing. However, since this elapsed time is almost fixed, it may be given as a constant without being measured.

In addition, when calculating data, a moving average value is calculated not only by the previous value and current value, but also by including data up to several times before, and this can be used as the current value.According to the moving average, the data It is possible to remove some of the fluctuations in

The calculated data is stored in the RAM 3 and sent to the display device 9 while updating the previous value.

The display device 9 converts the sent data into display numbers and displays them with appropriate units (step 10), thus completing the l measurement cycle.

On the other hand, if the abnormal value status in step 4 is output, the microprocessor 1 calculates n=n+1, where n is the number of abnormal value detections, and calculates the number of abnormal value detections using a counter on the software. Count (
Step 5). Then, it is determined whether n has reached a preset number of times, for example, n=50 (step 6)
.

In step 6 above, when the number of abnormal value detections reaches a preset number, the microprocessor l instructs to use the abnormal value as a normal value (step 7
). In response to this, the microprocessor 1 functions as a measurement data processing section, and executes step 8 above by treating the abnormal value as a normal value.

After this, it is processed in the same way as normal measurement data, and
The obtained data updates the previous data as known data.

On the other hand, in step 6, if the number of abnormal value detections has not reached the preset number, the microprocessor l executes estimated value calculation processing (step 9), that is, without using the measurement data, Known data stored up to that point in time, for example, the previous value, is read out, and an estimated value is calculated based on this data. For example, speed data is used as the known data. The estimate is
Assuming that this speed is constant, the distance estimate is calculated by multiplying the elapsed time from the previous measurement to the current measurement.

Configuration of Second Embodiment The second embodiment of the present invention is configured by the hardware shown in FIG. 2, similar to the first embodiment. However, this embodiment differs from the first embodiment in that it has a function for counting the abnormal value continuous time.

A function for counting the continuous time of abnormal values is provided in the microcomputer, and a timer for counting the continuous time of abnormal values is set. This timer can be formed by either hardware or software, but in this embodiment, it is set by software.

That is, this timer consists of a counter, a multiplier, and a comparator. A counter is set by software, and this counter counts the number of consecutive abnormal values in the same way as in the first embodiment, and this counted value is multiplied by the sampling period (transmission period) at that point using a multiplier. ,
A comparator compares the mark with a preset time to determine whether or not to replace it with a normal value. In this embodiment, the continuous time of abnormal values is set to 5 seconds.

Operation of Second Embodiment Next, the present embodiment configured as described above will be described with reference to FIGS. 1 to 3 and FIG. 5.

In this embodiment, the function of the front end section 5 is basically the same as that in the first embodiment, but the difference is that the transmission period of the transmitted wave is different between long distance and short distance. Therefore,
Only this difference will be explained.

The ultrasonic waves are transmitted from the transmission circuit 51 as burst pulses at regular time intervals. However, this time interval varies depending on the distance of the ship from the quay.

That is, the timing signal generation circuit 54 changes the transmission period and outputs the transmission timing in response to a transmission period change command from the microprocessor 1, which will be described later. In this embodiment, the transmission cycle is preset as 1 second for long distance and 0.1 second for short distance. Initially, long distance is selected, and the above change command causes short distance to transmit. The one for distance is selected.

Other functions in the front end section 5 are similar to those in the first embodiment, and measurement data on the round trip time required for ultrasonic waves is sent to the microprocessor l via the bus 4.

Thereafter, processing moves from the front end section 5 to the microprocessor 1. The processing by this microprocessor 1 will be explained with reference to the flowchart shown in FIG.

Note that the description of the same processing as shown in FIG. 4 above will not be repeated.

The microprocessor 1 first takes in measurement data from the time measurement circuit 53 (step 1).

Further, the microprocessor 1 checks whether the previous value (or the moving average value up to the previous time) is closer or farther than a preset distance, and if it is a long distance, it directly uses a wide allowable range. On the other hand, if the distance is short, a narrow tolerance range is read from ROM2 and set as a new tolerance range in RAM3 (step 2.3).In this example, the set distance is 30 m, and the tolerance range is The ratio is #1, and the short distance is set to 0.5 layer.

In line with the change in the above tolerance range, the microprocessor l
sends a transmission period change command to the timing signal generation circuit 54 (step 3a), and also stores the changed short distance transmission period T (0, 1 second) in a predetermined area of the RAM 3. Note that this predetermined area of RAM 3 usually contains the following information:
By initial setting, a long-distance transmission cycle T (1 second) is stored.

Next, the microprocessor 1 checks whether this measurement data is an abnormal value (step 4).

If there is no abnormality, the microprocessor l performs normal arithmetic processing based on the captured measurement data, that is, calculates data such as distance and speed (step 8).The calculated data is stored in RAM3. Then, the previous value is updated and sent to the 1 display device Fa9. The 0 display device 9 converts the sent data into display numbers and displays them with an appropriate unit (step 10). The measurement cycle ends.

On the other hand, when the abnormal value status in step 4 is output, the microprocessor l performs the calculation n=n+1, where n is the number of abnormal value detections.
The number of abnormal value detections is counted by a counter on the software (step 5). Next, the transmission period T (1 or 0.1 seconds) stored in a predetermined area of the RAM 3 is read out, and the product Tn with the number of abnormal value detections n is calculated (
step 5a), and Tn is a preset time;
In this embodiment, as described above, it is determined whether the time has reached 5 seconds (step 6).

In step 6 above, when the abnormal value continuous detection time reaches a preset time (5 seconds), the microprocessor 1 instructs to use the abnormal value as a normal value (step 7). Microprocessor 1
functions as a measurement data processing section, and executes step 8 above by treating the abnormal value as a normal value.

After this, it is processed in the same way as normal measurement data, and
The obtained data updates the previous data as known data.

On the other hand, in step 6, if the abnormal value continuous detection time has not reached the preset time, the microprocessor l executes estimated value calculation processing (step 9).
. This estimated value is then sent to the display device.

<Modifications of Embodiments> In each of the above embodiments, the allowable range is changed at the boundary of two distances, far and near, but it can also be changed at multiple stages, such as three stages of long distance, middle distance, and short distance. It can also be changed accordingly. Furthermore, the allowable range changing means can also be omitted.

In the above first embodiment, the case where the set value of the consecutive number of abnormal values is fixed to a constant value is shown, but the function to change the set value of the consecutive number of abnormal values according to the distance from the quay is added. It can also be added to the value replacement means.

In the second embodiment described above, a counter set by software was used, but a hardware timer is provided, and this timer is set to the continuous time of abnormal values, activated at the transmission timing, and reset when a normal value is received. It may also be configured to be set for

With this configuration, as long as a normal value is received within the set time of the timer, the timer will be reset and the timer will not time up. However, if abnormal values continue and a normal value is not received within the set time, the timer will be reset. , since the timer is not reset, the set time is reached and a time-up pulse is output. The microprocessor receives this pulse and instructs to replace the abnormal value with the normal value.

[Effects of the Invention] As explained above, the present invention allows even when a normal measurement value cannot be obtained, an estimated value can be calculated and displayed based on the measurement values obtained up to that point. Even if normal measurement values are not obtained repeatedly within a short period of time, display output can be obtained continuously, so that the so-called fluctuations in display values are not noticeable, and it can be used as data when guiding ships. This has the effect of displaying data that is easy to use.

Further, according to the present invention, it is possible to break away from the vicious cycle in which the error when performing abnormal value detection due to a succession of abnormal values increases one after another, and it is possible to realize normal measurement.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of the present invention, FIG. 2 is a block diagram showing the configurations of the first and second embodiments of the present invention, and FIG. 3 is a block diagram showing the configurations of the first and second embodiments of the present invention. FIG. 4 is a flowchart for explaining the operation of the first embodiment, and FIG.
The figure is a flowchart for explaining the operation of the second embodiment of the present invention. 1... Microprocessor 2... ROM 3... RAM 4... Bus 5... Front end section 6... Transducer/receiver 7... Input/output port 8... Keyboard 9...・Display device 51...Transmission circuit 52...Reception circuit 53...Time measurement circuit

Claims (5)

[Claims] (1) In an abnormal value compensation method for an ultrasonic measurement system in a system that measures the distance, speed, etc. of a ship attempting to berth using ultrasonic waves, notifies the ship, and provides guidance assistance so that the ship can berth at an appropriate speed. an abnormal value detection means for detecting the presence or absence of an abnormality in measured data based on input received waves; and when the abnormal value is detected, an estimated value is calculated based on known data obtained up to that point. estimated value generating means; and abnormal value normal value replacement for instructing to stop calculation of the estimated value and output the abnormal value as a normal value when the abnormal value is continuously detected a preset number of times. 1. An abnormal value compensation method for a berthing guidance assistance system, comprising: means. (2) an abnormal value detection means for detecting the presence or absence of an abnormality in the data measured based on the input received wave by comparing it with a preset tolerance range; An abnormal value compensation system for a berthing guidance assistance system according to claim 1, further comprising an allowable range changing means for changing the allowable range according to the following claim. (3) The berthing guidance assistance system according to claim 1 or 2, wherein the abnormal value normal value replacement means has a function of changing the set value of the number of consecutive abnormal values depending on the distance from the quay. outlier compensation method. (4) In an abnormal value compensation method for an ultrasonic measurement system in a system that measures the distance, speed, etc. of a ship attempting to berth using ultrasonic waves, notifies the ship, and provides guidance assistance so that the ship can berth at an appropriate speed. an abnormal value detection means for detecting the presence or absence of an abnormality in measured data based on input received waves; and when the abnormal value is detected, an estimated value is calculated based on known data obtained up to that point. estimated value generating means; and abnormal value normal value replacement for instructing to stop calculation of the estimated value and output the abnormal value as a normal value when the abnormal value is continuously detected for a preset period of time. 1. An abnormal value compensation method for a berthing guidance assistance system, comprising: means. (5) an abnormal value detection means for detecting the presence or absence of an abnormality in the data measured based on the input received wave by comparing it with a preset tolerance range; 5. An abnormal value compensation system for a berthing guidance assistance system according to claim 4, further comprising a permissible range changing means for changing the allowable range according to the following claim.