A Sea State Level Estimation Method Based on Unmanned Vessel Inertial Navigation and Meteorological Instrument Information
An unmanned boat and meteorological instrument technology, applied in the field of level estimation, can solve the problems such as no calculation method of the ship's rolling motion response function, no applicability, large amount of calculation, etc., and achieves simple structure, low cost, enhanced The effect of robustness
Active Publication Date: 2021-08-17
NORTHWESTERN POLYTECHNICAL UNIV
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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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[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0039] refer to figure 1 , the method for estimating the sea state grade by the inertial navigation of the unmanned boat and the meteorological instrument information that the present invention proposes, its theoretical basis is the corresponding relationship between the classification of the sea state and the wave height and wind speed stipulated by the State Oceanic Administration, by collecting the inertial navigation of the unmanned boat information and the sea wind speed information collected by the weather instrument, estimate the rolling motion spectrum and identify the rolling motion response function, and then invert the wave spectrum information and the wave height corresponding to the wave spectrum, and calculate the wave height corresponding to the wind speed in the same period, and finally The wave heights calculated by the two methods are ...
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The invention provides a sea state level estimation method based on the information of the inertial navigation of the unmanned boat and the weather instrument, collects the information of the inertial navigation and the weather instrument of the unmanned boat, establishes a system model for the motion of the unmanned boat inspired by waves, and uses the online forgetting factor recursion The least squares method is used to identify the frequency response function of the rolling motion of the unmanned boat online, estimate the power density spectrum of the rolling motion of the unmanned boat, invert the effective wave height of the wave from the rolling motion of the unmanned boat, and calculate the wave height from the wind speed information at sea. Corresponding relationship between wave height and sea state grade Estimation of sea state grade. The present invention uses the inertial navigation of the unmanned boat and the information of the meteorological instrument to estimate the sea state level structure, is low in cost, is easy to implement, and has strong applicability, reduces the dependence on the motion response function of the unmanned boat itself, and reduces the influence of the speed and course of the unmanned boat. The influence of the inversion results enhances the robustness of the system, and the estimation results are accurate, which can meet the requirements of environmental perception under complex sea conditions.
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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IPC IPC(8): G01C13/00G01W1/02
CPCG01C13/002G01C13/004G01W1/02
Inventor侯静赵安松羊彦王梓卿夏佳能吴佳波
OwnerNORTHWESTERN POLYTECHNICAL UNIV