Three-redundant ship dynamic positioning heading measurement method based on improved voting algorithm

Abstract

The invention relates to a three-redundant ship dynamic positioning heading measurement method based on an improved voting algorithm. The method comprises the following steps: 1, measuring a heading value: 2, adopting a variance self-learning weighting method to obtain respective weight values; 3, carrying out weighting on the measured mean, respectively subtracting a weighted mean from an input value of a sensor, calculating an absolute value, and comparing the absolute value with a threshold t1, wherein the absolute value less than the threshold t1 is considered that no failure exists so as to directly perform data fusion, and it is considered that the failure exists if the absolute value greater than t1 exists, such that failure redetermination is required to be performed; 4, obtaining difference between the current input value and the previous output value, and calculating an absolute value, wherein a normal state is determined when the absolute value is less than t2 and a heading change rate at the current time is similar to heading change rates of the current rudder angle and the ship speed, and otherwise a failure is determined; and 5, carrying out weighting on the remaining data reassignment weight values after excluding the failure data. With the present invention, a lot of failure determinations are achieved, such that the output result has high precision.

Description

technical field [0001] The invention relates to a ship dynamic positioning device, in particular to a three-redundant ship dynamic positioning heading measurement method based on an improved voting algorithm. Background technique [0002] The heading measurement system is a system used to measure the angle between the heading of the ship and the geographic north direction during the ship's navigation. The existing heading system usually includes: (1) Gyro compass, used to measure the heading; (2) Magnetic compass: used as a backup measuring device for the heading measurement system; (3) Central computer, for the heading measured by the gyrocompass Carry out fault judgment and data fusion processing to the data. Generally, the heading measurement system of a ship is usually equipped with only one set of gyrocompass, which is used to provide data for heading measurement. Since the heading plays a key role in the ship's dynamic positioning system, a wrong heading will lead to...

AI Technical Summary

Problems solved by technology

[0005] (1) Since the weight distribution of each sensor data fusion in the system does not fully account for the performance differences in the actual measurement of each sensor, there is still a lot of room for improvement in the fusion accuracy

[0006] (2) The large-number voting method adopted cannot accurately realize fault voting when two gyrocompasses fail

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