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

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...

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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 resources, and the real-time performance is poor. At the same time, it is difficult to correct due to edge distortion , the ambient light conditions are complex and the measurement accuracy is lower than that of the laser angle measurement cross positioning method, so it is still in the stage of experimental improvement

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