Multi-target self-propelled ship model trajectory tracking measurement method

A trajectory tracking and measurement method technology, which is applied in the direction of navigation calculation tools, etc., can solve the problems of complex environmental lighting conditions, low measurement accuracy, and poor real-time performance

Active Publication Date: 2020-04-10
CHONGQING JIAOTONG UNIVERSITY
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Problems solved by technology

Compared with the laser angle measurement cross positioning method, this method has no limit on the number of self-propelled ship models, and can realize simultaneous tracking and measurement of the trajectory of multiple ships. However, the calculation efficiency of this method is extremely dependent on hardware ...

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  • Multi-target self-propelled ship model trajectory tracking measurement method
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  • Multi-target self-propelled ship model trajectory tracking measurement method

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Embodiment Construction

[0066] The present invention will be further explained below in conjunction with the accompanying drawings of the specification, as shown in the figure:

[0067] The multi-target self-propelled ship model trajectory tracking measurement method of the present invention includes the following steps:

[0068] S1. Before the start of the test, arrange the n self-propelled ship models in sequence so that the bows of the n self-propelled ship models are in the same direction, and set the bow and stern targets for the n self-propelled ship models, using two sets of scanners at the same time Scan the bow and stern targets of n self-propelled ship models to obtain the initial left azimuth sequence G of n self-propelled ship model targets 0 : And initial right azimuth sequence H 0 : Among them, n = 1, 2, 3,..., N; i = 1, 2,..., n; i is the number of the self-propelled ship model; as well as They are the bow and stern azimuths obtained by scanning the i-th self-propelled ship model by one ...

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Abstract

The invention discloses a multi-target self-propelled ship model trajectory tracking measurement method. The method comprises the following steps: S1, acquiring an initial azimuth sequence of a self-propelled ship model; S2, obtaining an azimuth angle sequence in the motion process of the self-propelled ship model; S3, calculating a residual matrix of the azimuth angle sequence and the initial azimuth angle sequence; S4, according to the residual matrix, re-matching the azimuth angles of the azimuth angle sequence to obtain a new azimuth angle sequence; S5, calculating coordinates of the self-propelled ship model target according to the new azimuth angle sequence; S6, performing analogy according to the steps S2-S5 until the test is finished to obtain a coordinate set of the self-propelledship model target; and S7, calculating the moving track of the self-propelled ship model according to the coordinate set of the self-propelled ship model target. Multiple self-propelled ship model trajectories can be tracked and measured at the same time under the condition that the advantages of high precision and high frequency response are kept.

Description

Technical field [0001] The invention relates to the field of self-propelled ship model tracking and measurement, in particular to a method for tracking and measuring multi-target self-propelled ship model trajectory. Background technique [0002] Sailing trajectory is a key parameter in the navigation test of a self-propelled ship model. Multi-ship navigation conditions are the hotspot and difficulty in the research of the self-propelled ship model test of hydraulic physical models in recent years. There are currently two main methods for measuring the trajectory of a self-propelled ship model: [0003] ①Laser angle measurement cross positioning method. Two reflective targets are installed at the head and tail of the self-propelled ship model. Two laser angle scanning systems are used to scan the azimuth angles of the two targets. Based on the cross positioning method, the self-propelled ship model's trajectory is calculated in real time. This method has high measurement accuracy a...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20Y02T90/00
Inventor 吴俊舒岳阶张绪进周世良李晓飚周远航马御风
Owner CHONGQING JIAOTONG UNIVERSITY
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