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Noise reduction method and real-time monitoring system for real-time monitoring current value of underwater robot propeller

An underwater robot, real-time monitoring technology, applied in the direction of measuring current/voltage, measuring electrical variables, instruments, etc., can solve the problems of large average relative error, root mean square error, limited effect of wavelet noise reduction method, etc., to reduce the average error , the effect of reducing the effect of random noise interference

Active Publication Date: 2020-05-26
JIANGSU UNIV OF SCI & TECH +1
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Problems solved by technology

[0003] The known signal denoising methods generally use wavelet decomposition method or seven-point smoothing method to denoise the signal. The smoothing method has limited effect in the noise reduction of the current signal of the thruster of the underwater robot, and the specific performance is that the average error, root mean square error, and average relative error between the current data after noise reduction and the real current data are still large

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  • Noise reduction method and real-time monitoring system for real-time monitoring current value of underwater robot propeller
  • Noise reduction method and real-time monitoring system for real-time monitoring current value of underwater robot propeller
  • Noise reduction method and real-time monitoring system for real-time monitoring current value of underwater robot propeller

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Embodiment Construction

[0031] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0032] Such as figure 1 As shown, a noise reduction method for real-time monitoring of the current value by the thruster of an underwater robot, its specific implementation steps are as follows:

[0033] The first step is to receive the current raw data sent by the CPU system module of the underwater robot and store it;

[0034] In the second step, a sliding time window whose length is L=200 is used to intercept the current time beat (here, each time beat is set to 0.2 seconds) and the current raw data of the previous 199 time beats;

[0035] The third step is to carry out seven-point smoothing processing to the second step data, and carry out wavelet decomposition to the processed data, the wavelet basis function is "DB4", the number of decomposition layers is 1, and the wavelet approximate component of the first layer is extracted; the seve...

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Abstract

The invention discloses an underwater robot propeller real-time monitoring current noise reduction method. The current current data is displayed in real time; the influence of random noise interference in the current original data is reduced effectively, and the current data obtained after noise reduction is allowed to be approximate to the real current data; and mean error, root-mean-square errorand average relative error between the current data obtained after noise reduction and the real current data are further reduced. The invention also provides an underwater robot propeller current real-time monitoring system suitable for the method above.

Description

technical field [0001] The invention relates to a noise reduction method for real-time monitoring of current value by an underwater robot propeller and a real-time monitoring system thereof. Background technique [0002] The propeller is the heaviest part of the underwater robot and is prone to failure, so it is necessary to monitor the operating status of the propeller in real time. One of the effective methods to monitor the operating state of the thruster is to monitor the current state of the thruster of the underwater robot. In the engineering practice of monitoring the current state of the propeller of the underwater robot, it is found that the original current data collected often contain strong random noise interference, and the error with the real current data of the propeller is relatively large. If the original current data is directly displayed in the current monitoring system Data will make it difficult for underwater robot operators to identify the current sta...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01R19/00
CPCG01R19/0053
Inventor 殷宝吉崔维成苏世杰王芳唐文献罗瑞龙董亚鹏张建
Owner JIANGSU UNIV OF SCI & TECH
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