Positioning method and system based on hull attitude monitoring
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A positioning method and technology of a positioning system, applied in satellite radio beacon positioning systems, radio wave measurement systems, measuring devices, etc., can solve the problems of dangerous personnel on board, large errors, and inability to take timely countermeasures
Active Publication Date: 2021-05-07
赫星(厦门)电子有限公司
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[0003] The hull positioning device of scenic cruise ships is mainly based on GPS positioning. Compared with RTK real-time differential positioning (centimeter level), the positioning accuracy of ordinary GPS is relatively large, and there...
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Embodiment 1
[0040] refer to figure 1 and figure 2 , which is the first embodiment of the present invention, provides a positioning method based on hull attitude monitoring, including:
[0041] S1: Collect the hull attitude monitoring data for preprocessing, divide the data set, and set the input vector. What needs to be explained is:
[0042] The time series strategy is a set of one-dimensional observations. When combined with the least squares support vector machine, phase space reconstruction is required. The construction of the input vector includes,
[0043] X(k)=[x(k), x(k-τ), ..., x(k-(D-1)τ)]
[0044] Among them, D is the embedding dimension of the phase space reconstruction, τ is the three-dimensional coordinates of the phase space reconstruction, and X(k) is the input-output vector pair;
[0045] The dataset includes training set and test set.
[0046] S2: Build a positioning model based on the time series strategy, and confirm the parameters of the input vector. What need...
Embodiment 2
[0064] refer to Figure 3 to Figure 9 , is the second embodiment of the present invention, which is different from the first embodiment in that it provides a positioning system based on hull attitude monitoring, including: a ground station 100, an attitude monitoring module 200, and a positioning module 300 And data transmission module 400.
[0065] The ground station 100 monitors the current position of the ship through the attitude monitoring module 200, the positioning module 300 and the data transmission module 400. When the ship sails out of the specified area, and when the attitude of the ship changes due to wind waves, water waves, and obstacles, That is, when the tilt angle of the hull exceeds a certain angle, the ground station 100 will send out an alarm to avoid danger in time, and can check the attitude, position, speed, and direction data of each ship in real time, and at the same time, realize cloud storage and viewing of data, for data retrieval and analysis.
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Abstract
The invention discloses a positioning method and system based on hull attitude monitoring. The method comprises the steps of: collecting hull attitude monitoring data, carrying out preprocessing, dividing a data set, and setting an input vector; constructing a positioning model based on a time sequence strategy, and performing parameter confirmation on the input vector; performing positioning prediction training on the positioning model on the basis of an LS-VSM and the data set; and setting a positioning training threshold, if the positioning model satisfies the positioning training threshold, outputting the trained positioning model, and inputting a test set into the positioning model to perform testing to obtain a positioning predicted value. According to the positioning method and system of the invention, centimeter-level hull positioning is realized through the positioning model and RTK real-time differential positioning; hull attitude real-time monitoring, real-time hull attitude broadcasting, real-time transceiving, viewing and storage of data of a ground station are realized; data information used by each ship is stored in the cloud, can be called, viewed and analyzed; an IOT wireless data terminal and 5G can be supported; and the positioning precision of the hull is improved, the real-time performance and wide applicability of hull monitoring are improved.
Description
technical field [0001] The invention relates to the technical field of hull attitude monitoring and positioning, in particular to a positioning method and system based on hull attitude monitoring. Background technique [0002] When a ship is sailing, the hull is affected by factors such as load capacity, sea conditions, speed and course, and under the comprehensive action of wind, waves, and currents, attitude changes such as pitch, roll, and heave occur. The instantaneous change of hull attitude makes the hull and superstructure The vertical height of the externally installed sensor from the water surface changes, and the real-time acquisition of the vertical height of the sensor from the water surface can be achieved by direct measurement or indirect calculation. The direct measurement method usually uses the principle of laser ranging or ultrasonic ranging. Therefore, the sensor needs to be cleaned regularly, and the cost of equipment installation and maintenance is relat...
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