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

A technology of dynamic positioning and measurement method, which is applied in the direction of measurement device, measurement angle, mapping and navigation, etc., can solve the problems of insufficient weight distribution, sensor performance difference, inability to accurately realize fault voting, etc., and achieve high-precision results.

Inactive Publication Date: 2015-02-11
CHINA NAT OFFSHORE OIL CORP +2
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  • Description
  • Claims
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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 in the case of two gyrocompass failures

Method used

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

Examples

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Embodiment

[0041] Example: such as Figure 5As shown, in the laboratory environment, the slewing motion of the ship is simulated, and the simulation experiment of two gyro compass faults is carried out for the heading system, and the above steps are used for data processing. The result is as Figure 5 d is the fusion output data, Figure 5 a. Figure 5 b. Figure 5 c is the measurement data of gyrocompass 1.

[0042] The invention can ensure the accuracy of fault judgment due to the adoption of improved weighting algorithm and multi-level fault judgment mechanism, and has the advantages of small measurement error, strong adjustment ability, real-time performance and ease of use.

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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) gyrocompass, 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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C1/00
Inventor 丁福光刘菊娥孙行衍吴朝晖赵波陈翠和宁继鹏黄福祥陈善瑶赵大威唐照东蔡连博
Owner CHINA NAT OFFSHORE OIL CORP
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