Sea condition grade estimation method based on unmanned ship inertial navigation and weather instrument information

Abstract

The invention provides a sea condition grade estimation method based on unmanned ship inertial navigation and weather instrument information. Inertial navigation and meteorological instrument information of the unmanned ship is collected; a system model for stimulating the unmanned ship to move by sea waves is established; an online forgetting factor recursive least square method is used for identifying an unmanned ship rolling motion frequency response function online, a power density spectrum of unmanned ship rolling motion is estimated, the effective sea wave height is inversed through theunmanned ship rolling motion, the sea wave height is calculated through offshore wind speed information, and the sea condition grade is estimated according to the corresponding relation between the sea wave height and the sea condition grade. The method for estimating the sea condition grade through unmanned ship inertial navigation and meteorological instrument information is simple in structure,low in cost, easy to implement and high in applicability; according to the method, the dependence on the motion response function of the unmanned ship is reduced, the influence of the navigational speed and the navigational direction of the unmanned ship on the inversion result is reduced, the robustness of the system is enhanced, the estimation result is accurate, and the requirement of environmental perception under complex marine conditions can be met.

Description

technical field [0001] The invention relates to the field of multi-sensor data fusion of electronic information, in particular to a sea state level estimation method. Background technique [0002] Maritime environment perception and understanding of the basic sea conditions in the sea area are the basis for human ocean development, utilization and scientific research. The sea state refers to the sea surface conditions such as the shape of the sea surface wave, the breaking of the wave crest, and the amount of foam in the sea under the main effect of the wind force. It is divided into 10 levels. Traditional sea state detection methods such as visual inspection have the disadvantages of difficult monitoring and low convenience; wave meter monitoring has the disadvantages of low automation and real-time performance; radar and satellite monitoring have the disadvantages of high cost. These measurement methods cannot meet the requirements of real-time acquisition of wave informa...

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Problems solved by technology

However, this method does not consider the influence of sea wind. At the same time, when estimating the ship’s roll angle spectral density function, the covariance of the roll angle sequence must be calculated, which is a large amount of calculation, and the calculation method of the ship’s roll motion response function is not given. It depends on the known conditions of the response function of the ship's rolling motion, which does not have universal applicability

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