WO2024077850A1 - Method for constructing evaluation index system for autonomous berthing and unberthing function of ship - Google Patents
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- the present invention relates to a method for constructing an evaluation index system, and in particular to a method for constructing an evaluation index system for autonomous berthing and unberthing functions of ships.
- the autonomous berthing and unberthing function has high requirements for berthing and unberthing operations because the ship is in a low-speed motion state when berthing and unberthing, and the maneuvering waters are limited and the ship's force conditions are relatively complex.
- Research on the autonomous berthing and unberthing system of intelligent ships is a key technology for realizing ship intelligence and an important means to improve ship safety.
- the purpose of the present invention is to propose a method for constructing an evaluation index system for the autonomous berthing and unberthing functions of ships, and to strive to start from constructing an evaluation index system for the functions of autonomous berthing and unberthing systems, combined with the full process operation and movement status of the ship's autonomous berthing and unberthing operation process, to effectively assist R&D and testing personnel in completing the evaluation of the functions of the ship's autonomous berthing and unberthing systems.
- the present invention comprises the following steps:
- Step 1 Divide the process of autonomous berthing and unberthing of ships based on the operation process, and use each stage as the first-level indicator of the evaluation index system;
- Step 2 Preliminarily select the secondary indicators under each primary indicator according to the divided autonomous berthing and unberthing process
- Step 3 Use statistical methods to screen secondary indicators based on independence
- Step 4 Use the entropy weight method to judge the importance of the indicator based on the significance of the information amount and the size of the secondary indicator information entropy;
- Step 5 Refine the evaluation index system and determine whether each secondary index can be further refined. If so, continue to divide and generate tertiary indexes.
- the step three specifically includes:
- the correlation coefficient between the i-th indicator and the j-th indicator is:
- the entropy weight method in step 4 includes the following steps:
- the information entropy of an indicator is smaller, the amount of information provided by the indicator is greater, the role it plays in the comprehensive evaluation is greater, and the weight is higher.
- the secondary indicators initially selected in step 2 cover the ship's speed, heading, position control and rudder and propeller operation at all stages of berthing and unberthing.
- the secondary indicators are selected by analyzing the factors that affect autonomous berthing and unberthing, combined with the key points of berthing and unberthing operations and relevant conventions and regulations.
- the autonomous berthing and unberthing process of the ship in step 1 is divided into an autonomous berthing and unberthing maneuvering stage and an autonomous unberthing and maneuvering stage.
- the autonomous berthing maneuvering stage is set to be from the time when the ship weighs anchor from the anchorage to the time when the ship arrives at the berth and ties the rope.
- the autonomous unmooring maneuvering stage is set to be from the time when the ship unties the cable to the end of the ship's navigation in the waterway.
- the present invention provides a method for constructing an evaluation index system for the autonomous berthing and unberthing functions of intelligent ships. Through this method, a corresponding evaluation index system can be established for different ship tonnages and the equipment carried. The system is applicable to various types of intelligent ships and reduces the subjectivity and arbitrariness of manual screening of evaluation indicators.
- FIG. 1 is a flow chart of the present invention.
- the construction method of the present invention comprises the following steps:
- Step 1 Based on the operation process, the autonomous berthing and unberthing process of the ship is divided into two stages: autonomous berthing operation and autonomous unberthing operation. Each stage is used as a first-level indicator of the evaluation index system. Among them, autonomous berthing is set as the period from the time the ship weighs anchor at the anchorage to the time the ship arrives at the berth and ties the cable, and autonomous unberthing is set as the period from the time the ship unties the cable to the end of the ship's navigation in the waterway.
- the autonomous berthing stage can be further divided into several stages, such as channel navigation, path planning, berthing operation, and berthing operation.
- Step 2 According to the divided autonomous berthing and unberthing process, by analyzing the factors affecting autonomous berthing and unberthing, combined with the key points of berthing and unberthing operation and relevant conventions and regulations, the secondary indicators under each primary indicator are preliminarily selected. Among them, the preliminarily selected secondary indicators cover the speed, heading, position control, rudder and propeller operation and other information at each stage of the ship's berthing and unberthing.
- Step 3 Use statistical methods to screen the secondary indicators based on independence, which specifically includes the following steps:
- the correlation coefficient between the i-th indicator and the j-th indicator is:
- Step 4 Use the entropy weight method to judge the importance of the indicator based on the significance of the information amount and the size of the secondary indicator information entropy.
- the entropy weight method includes the following steps:
- oscillating indicators that is, indicators whose values are better the smaller they are from a certain interval, and worse the larger they are from a certain interval, when normalizing, they need to be converted first, converting the indicators into positive indicators or reverse indicators to ensure comparability between data.
- p ij is the weight of the index value of the jth group of data to be evaluated under the i-th index
- z ij is the index data after standardization
- the information entropy of an indicator is smaller, the amount of information provided by the indicator is greater, the role it plays in the comprehensive evaluation should be greater, and the weight should be higher.
- the information entropy value of an indicator is greater than 0.997, the weight corresponding to this indicator will be very small, so the indicators with information entropy greater than 0.997 are deleted.
- Step 5 Refine the evaluation index system and determine whether each secondary index can be further refined. If so, continue to divide it to generate third-level indicators.
- the secondary indicators include speed, spacing, rudder and propeller control, etc.
- the speed can be further divided into ship normal speed and longitudinal speed
- the spacing can be further divided into the distance to other ships and the distance to the berth
- the rudder and propeller control can be divided into the number of rudder control and the control of the propeller.
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Abstract
A method for constructing an evaluation index system for an autonomous berthing and unberthing function of a ship. The method comprises: dividing an autonomous berthing and unberthing process of a ship on the basis of a work flow, and taking each divided stage as a first-level index of an evaluation index system (101); preliminarily selecting second-level indexes under each first-level index according to the divided autonomous berthing and unberthing process (102); by using a statistical method, screening the second-level indexes on the basis of independence (103); by using an entropy weight method, determining the importance of the indexes on the basis of the significance of an information amount and according to the magnitude of an information entropy of each second-level index (104); and refining the evaluation index system, determining whether each second-level index can be further refined, and if so, continuing the division to generate third-level indexes (105). A method for constructing an evaluation index system for an autonomous berthing and unberthing function of an intelligent ship is provided, and by means of the method, corresponding evaluation index systems for different ship tonnages and carried devices can be constructed, such that the systems are applicable to various types of intelligent ships, and the subjectivity and randomness of manual screening for evaluation indexes are reduced.
Description
本发明涉及一种评价指标体系构建方法，尤其涉及一种船舶自主靠离泊功能评价指标体系构建方法。The present invention relates to a method for constructing an evaluation index system, and in particular to a method for constructing an evaluation index system for autonomous berthing and unberthing functions of ships.
自主靠离泊功能因船舶在靠离泊码头时，处于低速运动状态，加上操纵水域有限，船舶受力情况较为复杂，所以对靠离泊作业要求高。研究智能船舶自主靠离泊系统，是实现船舶智能化的一个关键技术，也是提高船舶安全的一个重要手段。The autonomous berthing and unberthing function has high requirements for berthing and unberthing operations because the ship is in a low-speed motion state when berthing and unberthing, and the maneuvering waters are limited and the ship's force conditions are relatively complex. Research on the autonomous berthing and unberthing system of intelligent ships is a key technology for realizing ship intelligence and an important means to improve ship safety.
而自动靠泊系统的研究，离不开完善的测试验证体系和健全的规范标准。合理地建立一个完整的评价指标体系是确保评价结果正确的前提，对自主靠离泊功能评价起到至关重要的作用。The research on the automatic berthing system cannot be separated from a complete test verification system and sound normative standards. The reasonable establishment of a complete evaluation index system is the premise to ensure the correct evaluation results, which plays a vital role in the evaluation of the autonomous berthing and unberthing function.
现阶段对于智能船舶自主靠离泊功能评估尚未建立完整合理的评价指标体系，难以解决智能船舶自主靠离泊功能评估问题。At present, a complete and reasonable evaluation index system has not been established for the evaluation of the autonomous berthing and unberthing functions of intelligent ships, making it difficult to solve the problem of evaluating the autonomous berthing and unberthing functions of intelligent ships.
发明内容Summary of the invention
发明目的：本发明目的是提出一种船舶自主靠离泊功能评价指标体系构建方法，力求从构建自主靠离泊系统功能评价指标体系出发，结合船舶自主靠离泊作业流程的全过程操作和运动状态，有效辅助研发测试人员完成对船舶自主靠离泊系统功能的评价。Purpose of the invention: The purpose of the present invention is to propose a method for constructing an evaluation index system for the autonomous berthing and unberthing functions of ships, and to strive to start from constructing an evaluation index system for the functions of autonomous berthing and unberthing systems, combined with the full process operation and movement status of the ship's autonomous berthing and unberthing operation process, to effectively assist R&D and testing personnel in completing the evaluation of the functions of the ship's autonomous berthing and unberthing systems.
技术方案：本发明包括以下步骤：Technical solution: The present invention comprises the following steps:
步骤一、基于作业流程对船舶自主靠离泊过程进行划分，划分的各个阶段作为评价指标体系的一级指标；Step 1: Divide the process of autonomous berthing and unberthing of ships based on the operation process, and use each stage as the first-level indicator of the evaluation index system;
步骤二、根据划分的自主靠离泊过程，初步选取各一级指标下的二级指标；Step 2: Preliminarily select the secondary indicators under each primary indicator according to the divided autonomous berthing and unberthing process;
步骤三、采用统计学方法，基于独立性对二级指标进行筛选；Step 3: Use statistical methods to screen secondary indicators based on independence;
步骤四、采用熵权法，基于信息量的显著性，根据二级指标信息熵的大小判断指标的重要性；Step 4: Use the entropy weight method to judge the importance of the indicator based on the significance of the information amount and the size of the secondary indicator information entropy;
步骤五、细化评价指标体系，判断各二级指标是否可以继续细化，若可以，则继续划分，生成三级指标。Step 5: Refine the evaluation index system and determine whether each secondary index can be further refined. If so, continue to divide and generate tertiary indexes.
所述步骤三具体包括：
The step three specifically includes:
S31、假定初步选取得到a个指标，b组待评数据，xij与xkj代表第i个指标的第j组数据及第k个指标的第j组数据，构成的原始指标矩阵为：
S31. Assuming that a indicators and b groups of data to be evaluated are initially selected, xij and xkj represent the jth group of data of the i-th indicator and the jth group of data of the k-th indicator, the original indicator matrix is:
S31. Assuming that a indicators and b groups of data to be evaluated are initially selected, xij and xkj represent the jth group of data of the i-th indicator and the jth group of data of the k-th indicator, the original indicator matrix is:
S32、计算两个指标间的相关系数，则第i个指标与第j个指标的间的相关系数为：
S32. Calculate the correlation coefficient between the two indicators. The correlation coefficient between the i-th indicator and the j-th indicator is:
S32. Calculate the correlation coefficient between the two indicators. The correlation coefficient between the i-th indicator and the j-th indicator is:
S33、检验各指标相关系数，若rij＝0，则代表两个指标间不存在相关关系，反之，则代表两个指标间存在相关关系。S33. Check the correlation coefficient of each indicator. If r ij = 0, it means that there is no correlation between the two indicators. Otherwise, it means that there is a correlation between the two indicators.
所述步骤四中的熵权法包括以下步骤：The entropy weight method in step 4 includes the following steps:
S41、将各个指标的数据进行标准化处理，假定基于独立性筛选后还有n个指标，m组待评数据，xij代表第i个指标的第j组数据，构成的原始指标矩阵为：
S41. Standardize the data of each indicator. Assume that there are n indicators and m groups of data to be evaluated after independence screening. xij represents the jth group of data of the ith indicator. The original indicator matrix is:
S41. Standardize the data of each indicator. Assume that there are n indicators and m groups of data to be evaluated after independence screening. xij represents the jth group of data of the ith indicator. The original indicator matrix is:
对于正向指标，
For positive indicators,
For positive indicators,
对于逆向指标，
For the reverse indicator,
For the reverse indicator,
对于振荡性指标，在进行归一化时，需要先进行转换，将指标转化为正向指标或者逆向指标，以保证数据之间的可比性；For oscillating indicators, when normalizing, you need to convert them into positive indicators or negative indicators to ensure comparability between data;
S42、计算比重：
S42, calculate specific gravity:
S42, calculate specific gravity:
如果pij＝0，则定义
If p ij = 0, then define
S43、计算各指标的信息熵：
S43. Calculate the information entropy of each indicator:
S43. Calculate the information entropy of each indicator:
如果指标的信息熵越小，该指标提供的信息量越大，在综合评价中所起作用越大，权重越高。If the information entropy of an indicator is smaller, the amount of information provided by the indicator is greater, the role it plays in the comprehensive evaluation is greater, and the weight is higher.
所述步骤二中初步选取的二级指标涵盖船舶靠离泊各个阶段的航速、航向、船位控制和舵桨操纵。The secondary indicators initially selected in step 2 cover the ship's speed, heading, position control and rudder and propeller operation at all stages of berthing and unberthing.
所述二级指标通过分析影响自主靠离泊的因素，结合靠离泊操纵要点及相关公约规范进行选取。The secondary indicators are selected by analyzing the factors that affect autonomous berthing and unberthing, combined with the key points of berthing and unberthing operations and relevant conventions and regulations.
所述步骤一中的船舶自主靠离泊过程分为自主靠泊操纵阶段和自主离泊操纵阶段。The autonomous berthing and unberthing process of the ship in step 1 is divided into an autonomous berthing and unberthing maneuvering stage and an autonomous unberthing and maneuvering stage.
所述自主靠泊操纵阶段设定为船舶从锚地起锚后至抵达泊位系上缆绳为止。The autonomous berthing maneuvering stage is set to be from the time when the ship weighs anchor from the anchorage to the time when the ship arrives at the berth and ties the rope.
所述自主离泊操纵阶段设定为船舶解开缆绳至船舶航道航行结束。The autonomous unmooring maneuvering stage is set to be from the time when the ship unties the cable to the end of the ship's navigation in the waterway.
有益效果：本发明针对智能船舶自主靠离泊功能提供一种评价指标体系构建方法，通过该方法可针对不同船舶吨位以及搭载的设备，建立相对应的评价指标体系，适用于各种类型的智能船舶，同时降低了人工筛选评价指标的主观性、随意性。Beneficial effects: The present invention provides a method for constructing an evaluation index system for the autonomous berthing and unberthing functions of intelligent ships. Through this method, a corresponding evaluation index system can be established for different ship tonnages and the equipment carried. The system is applicable to various types of intelligent ships and reduces the subjectivity and arbitrariness of manual screening of evaluation indicators.
图1为本发明的流程图。FIG. 1 is a flow chart of the present invention.
下面结合附图对本发明作进一步说明。The present invention will be further described below in conjunction with the accompanying drawings.
如图1所示，本发明的构建方法包括以下步骤：As shown in Figure 1, the construction method of the present invention comprises the following steps:
步骤一、基于作业流程对船舶自主靠离泊过程进行划分，具体可分为自主靠泊操纵和自主离泊操纵两大阶段，各个阶段作为评价指标体系的一级指标。其中，将自主靠泊设定为船舶从锚地起锚后至抵达泊位系上缆绳为止，将自主离泊设定为船舶解开缆绳至船舶航道航行结束。自主靠泊阶段又可以细分为航道航行、路径规划、抵泊操作、靠岸操纵等若干阶段。
Step 1: Based on the operation process, the autonomous berthing and unberthing process of the ship is divided into two stages: autonomous berthing operation and autonomous unberthing operation. Each stage is used as a first-level indicator of the evaluation index system. Among them, autonomous berthing is set as the period from the time the ship weighs anchor at the anchorage to the time the ship arrives at the berth and ties the cable, and autonomous unberthing is set as the period from the time the ship unties the cable to the end of the ship's navigation in the waterway. The autonomous berthing stage can be further divided into several stages, such as channel navigation, path planning, berthing operation, and berthing operation.
船舶的类型、吨位以及所配备的传感器、推进器等设备，都会影响阶段划分。根据船舶驱动能力将船舶分为全驱船舶和欠驱船舶，根据船舶吨位将船舶分为小型船舶、中型船舶、大型船舶以及超大型船舶。不同驱动能力和吨位的船舶其操纵性能有较大差别，操纵性较好的船舶，其航向稳定性、启动制动能力都较强，所以划分作业流程时无需太过详细，需着重关注路径规划阶段及靠岸操纵阶段；而对于操纵性能较差的船舶，则需详细划分靠离泊各个阶段。The type and tonnage of the ship, as well as the sensors, thrusters and other equipment it is equipped with, will affect the division of stages. Ships are divided into fully driven ships and underdriven ships according to their driving capabilities, and into small ships, medium-sized ships, large ships and very large ships according to their tonnage. The maneuverability of ships of different driving capabilities and tonnages varies greatly. Ships with better maneuverability have stronger heading stability and starting and braking capabilities, so there is no need to be too detailed when dividing the operation process. It is necessary to focus on the path planning stage and the berthing and maneuvering stage; for ships with poor maneuverability, it is necessary to divide the berthing and unberthing stages in detail.
步骤二、根据划分的自主靠离泊过程，通过分析影响自主靠离泊的因素，结合靠离泊操纵要点及相关公约规范，初步选取各一级指标下的二级指标。其中，初步选取的二级指标涵盖船舶靠离泊各个阶段的航速、航向、船位控制、舵桨操纵等信息。Step 2: According to the divided autonomous berthing and unberthing process, by analyzing the factors affecting autonomous berthing and unberthing, combined with the key points of berthing and unberthing operation and relevant conventions and regulations, the secondary indicators under each primary indicator are preliminarily selected. Among them, the preliminarily selected secondary indicators cover the speed, heading, position control, rudder and propeller operation and other information at each stage of the ship's berthing and unberthing.
步骤三、采用统计学方法，基于独立性对二级指标进行筛选，具体包括以下步骤：Step 3: Use statistical methods to screen the secondary indicators based on independence, which specifically includes the following steps:
S31、假定初步选取得到a个指标，b组待评数据，xij与xkj代表第i个指标的第j组数据及第k个指标的第j组数据，构成的原始指标矩阵为：
S31. Assuming that a indicators and b groups of data to be evaluated are initially selected, xij and xkj represent the jth group of data of the i-th indicator and the jth group of data of the k-th indicator, the original indicator matrix is:
S31. Assuming that a indicators and b groups of data to be evaluated are initially selected, xij and xkj represent the jth group of data of the i-th indicator and the jth group of data of the k-th indicator, the original indicator matrix is:
S32、计算两个指标间的相关系数，则第i个指标与第j个指标的间的相关系数为：
S32. Calculate the correlation coefficient between the two indicators. The correlation coefficient between the i-th indicator and the j-th indicator is:
S32. Calculate the correlation coefficient between the two indicators. The correlation coefficient between the i-th indicator and the j-th indicator is:
S33、检验各指标相关系数，若rij＝0，则代表两个指标间不存在相关关系，反之，则代表两个指标间存在相关关系。若相关系数大，可推断出两指标之间反映的重复信息较多，设定当指标的相关系数大于0.9时，两个指标间的信息重复超过了临界值，需要删除其中一个指标或将两个指标合并。S33, check the correlation coefficient of each indicator. If r ij = 0, it means that there is no correlation between the two indicators. Otherwise, it means that there is a correlation between the two indicators. If the correlation coefficient is large, it can be inferred that there is a lot of repeated information reflected between the two indicators. When the correlation coefficient of the indicator is greater than 0.9, the information duplication between the two indicators exceeds the critical value, and one of the indicators needs to be deleted or the two indicators need to be merged.
步骤四、采用熵权法，基于信息量的显著性，根据二级指标信息熵的大小判断指标的重要性，熵权法包括以下步骤：Step 4: Use the entropy weight method to judge the importance of the indicator based on the significance of the information amount and the size of the secondary indicator information entropy. The entropy weight method includes the following steps:
S41、将各个指标的数据进行标准化处理，假定基于独立性筛选后还有n个指标，m组待评数据，xij代表第i个指标的第j组数据，构成的原始指标矩阵为：
S41. Standardize the data of each indicator. Assume that there are n indicators and m groups of data to be evaluated after independence screening. xij represents the jth group of data of the ith indicator. The original indicator matrix is:
S41. Standardize the data of each indicator. Assume that there are n indicators and m groups of data to be evaluated after independence screening. xij represents the jth group of data of the ith indicator. The original indicator matrix is:
对于正向指标，
For positive indicators,
For positive indicators,
对于逆向指标，
For the reverse indicator,
For the reverse indicator,
对于振荡性指标，即数值距离某个区间范围越小越好，距离某个区间范围越大越差的指标，在进行归一化时，需要先进行转换，将指标转化为正向指标或者逆向指标，以保证数据之间的可比性。For oscillating indicators, that is, indicators whose values are better the smaller they are from a certain interval, and worse the larger they are from a certain interval, when normalizing, they need to be converted first, converting the indicators into positive indicators or reverse indicators to ensure comparability between data.
S42、计算比重：
S42, calculate specific gravity:
S42, calculate specific gravity:
其中，pij为第i个项指标下第j组待评数据的指标值的比重，zij为标准化处理后的指标数据，如果pij＝0，则定义
Where, p ij is the weight of the index value of the jth group of data to be evaluated under the i-th index, z ij is the index data after standardization, if p ij = 0, then define
S43、计算各指标的信息熵：
S43. Calculate the information entropy of each indicator:
S43. Calculate the information entropy of each indicator:
如果指标的信息熵越小，该指标提供的信息量越大，在综合评价中所起作用理当越大，权重就应该越高。当指标的信息熵值大于0.997时，此指标对应的权重会非常小，因此删除指标的信息熵大于0.997的指标。If the information entropy of an indicator is smaller, the amount of information provided by the indicator is greater, the role it plays in the comprehensive evaluation should be greater, and the weight should be higher. When the information entropy value of an indicator is greater than 0.997, the weight corresponding to this indicator will be very small, so the indicators with information entropy greater than 0.997 are deleted.
步骤五、细化评价指标体系，判断各二级指标是否可以继续细化，若可以，则继续划分，生成三级指标。例如，二级指标中包括航速、间距、舵桨操纵等指标，航速还可以继续细分为船舶法相速度与纵向速度，间距还可以分为与其他船只的距离以及与泊位的距离，舵桨操纵还可以分为舵操纵次数与推进器的操纵。
Step 5: Refine the evaluation index system and determine whether each secondary index can be further refined. If so, continue to divide it to generate third-level indicators. For example, the secondary indicators include speed, spacing, rudder and propeller control, etc. The speed can be further divided into ship normal speed and longitudinal speed, the spacing can be further divided into the distance to other ships and the distance to the berth, and the rudder and propeller control can be divided into the number of rudder control and the control of the propeller.
Claims (8)
- 一种船舶自主靠离泊功能评价指标体系构建方法，其特征在于，包括以下步骤：A method for constructing an evaluation index system for autonomous berthing and unberthing functions of a ship, characterized by comprising the following steps:步骤一、基于作业流程对船舶自主靠离泊过程进行划分，划分的各个阶段作为评价指标体系的一级指标；Step 1: Divide the process of autonomous berthing and unberthing of ships based on the operation process, and use each stage as the first-level indicator of the evaluation index system;步骤二、根据划分的自主靠离泊过程，初步选取各一级指标下的二级指标；Step 2: Preliminarily select the secondary indicators under each primary indicator according to the divided autonomous berthing and unberthing process;步骤三、采用统计学方法，基于独立性对二级指标进行筛选；Step 3: Use statistical methods to screen secondary indicators based on independence;步骤四、采用熵权法，基于信息量的显著性，根据二级指标信息熵的大小判断指标的重要性；Step 4: Use the entropy weight method to judge the importance of the indicator based on the significance of the information amount and the size of the secondary indicator information entropy;步骤五、细化评价指标体系，判断各二级指标是否可以继续细化，若可以，则继续划分，生成三级指标。Step 5: Refine the evaluation index system and determine whether each secondary index can be further refined. If so, continue to divide and generate tertiary indicators.
- 根据权利要求1所述的一种船舶自主靠离泊功能评价指标体系构建方法，其特征在于，所述步骤三具体包括：The method for constructing an evaluation index system for autonomous berthing and unberthing functions of a ship according to claim 1, wherein step three specifically comprises:S31、假定初步选取得到a个指标，b组待评数据，xij与xkj代表第i个指标的第j组数据及第k个指标的第j组数据，构成的原始指标矩阵为：
S31. Assuming that a indicators and b groups of data to be evaluated are initially selected, xij and xkj represent the jth group of data of the i-th indicator and the jth group of data of the k-th indicator, the original indicator matrix is:
S32、计算两个指标间的相关系数，则第i个指标与第j个指标的间的相关系数为：
S32. Calculate the correlation coefficient between the two indicators. The correlation coefficient between the i-th indicator and the j-th indicator is:
S33、检验各指标相关系数，若rij＝0，则代表两个指标间不存在相关关系，反之，则代表两个指标间存在相关关系。S33. Check the correlation coefficient of each indicator. If r ij = 0, it means that there is no correlation between the two indicators. Otherwise, it means that there is a correlation between the two indicators. - 根据权利要求1所述的一种船舶自主靠离泊功能评价指标体系构建方法，其特征在于，所述步骤四中的熵权法包括以下步骤：The method for constructing an evaluation index system for the autonomous berthing and unberthing function of a ship according to claim 1, wherein the entropy weight method in step 4 comprises the following steps:S41、将各个指标的数据进行标准化处理，假定基于独立性筛选后还有n个指标，m组待评数据，xij代表第i个指标的第j组数据，构成的原始指标矩阵为：
S41. Standardize the data of each indicator. Assume that there are n indicators and m groups of data to be evaluated after independence screening. xij represents the jth group of data of the ith indicator. The original indicator matrix is:
对于正向指标，
For positive indicators,
对于逆向指标，
For the reverse indicator,
对于振荡性指标，在进行归一化时，需要先进行转换，将指标转化为正向指标或者逆向指标，以保证数据之间的可比性；For oscillating indicators, when normalizing, you need to convert them into positive indicators or negative indicators to ensure comparability between data;S42、计算比重：
S42, calculate specific gravity:
如果pij＝0，则定义 If p ij = 0, then defineS43、计算各指标的信息熵：
S43. Calculate the information entropy of each indicator:
如果指标的信息熵越小，该指标提供的信息量越大，在综合评价中所起作用越大，权重越高。If the information entropy of an indicator is smaller, the amount of information provided by the indicator is greater, the role it plays in the comprehensive evaluation is greater, and the weight is higher. - 根据权利要求1所述的一种船舶自主靠离泊功能评价指标体系构建方法，其特征在于，所述步骤二中初步选取的二级指标涵盖船舶靠离泊各个阶段的航速、航向、船位控制和舵桨操纵。The method for constructing an evaluation index system for the autonomous berthing and unberthing functions of a ship according to claim 1 is characterized in that the secondary indicators preliminarily selected in the step 2 cover the speed, heading, position control and rudder and propeller manipulation at each stage of the ship's berthing and unberthing.
- 根据权利要求1或4所述的一种船舶自主靠离泊功能评价指标体系构建方法，其特征在于，所述二级指标通过分析影响自主靠离泊的因素，结合靠离泊操纵要点及相关公约规范进行选取。The method for constructing an evaluation index system for the autonomous berthing and unberthing functions of a ship according to claim 1 or 4 is characterized in that the secondary indicators are selected by analyzing the factors affecting autonomous berthing and unberthing, combined with the key points of berthing and unberthing maneuvers and relevant conventions and specifications.
- 根据权利要求1所述的一种船舶自主靠离泊功能评价指标体系构建方法，其特征在于，所述步骤一中的船舶自主靠离泊过程分为自主靠泊操纵阶段和自主离泊操纵阶 段。The method for constructing an evaluation index system for the autonomous berthing and unberthing function of a ship according to claim 1 is characterized in that the autonomous berthing and unberthing process of the ship in step 1 is divided into an autonomous berthing maneuvering stage and an autonomous unberthing maneuvering stage. part.
- 根据权利要求6所述的一种船舶自主靠离泊功能评价指标体系构建方法，其特征在于，所述自主靠泊操纵阶段设定为船舶从锚地起锚后至抵达泊位系上缆绳为止。The method for constructing an evaluation index system for the autonomous berthing and unberthing functions of a ship according to claim 6 is characterized in that the autonomous berthing and unberthing maneuvering stage is set from the time the ship weighs anchor from the anchorage to the time the ship arrives at the berth and ties the cable.
- 根据权利要求6所述的一种船舶自主靠离泊功能评价指标体系构建方法，其特征在于，所述自主离泊操纵阶段设定为船舶解开缆绳至船舶航道航行结束。 According to a method for constructing an evaluation index system for the autonomous berthing and unberthing functions of a ship as described in claim 6, it is characterized in that the autonomous unberthing maneuvering stage is set to be from the time when the ship unties the cable to the end of the ship's navigation in the waterway.
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