Ship intelligent navigation function test evaluation method, system, device and storage medium

Abstract

The present invention discloses a method, system, device and storage medium for testing and evaluating the intelligent navigation function of a ship. The method for testing and evaluating the intelligent navigation function of a ship comprises: setting an importance index; generating a first matrix according to the importance index; judging whether the first matrix is consistent; if so, normalizing each column of the first matrix to generate a second matrix; performing a weight analysis on the second matrix to obtain a first weight; and scoring the navigation function according to the first weight. The present invention sets an importance index and obtains a first weight through matrix analysis, comprehensively considering the weight distribution of different scores obtained by the ship when sailing in different waters, and scoring the navigation function, thereby improving the accuracy and reliability of the test and evaluation of the intelligent navigation function of the ship, and realizing accurate and comprehensive reliability verification of the intelligent navigation function of the ship. The present invention can be widely used in the field of intelligent navigation technology.

Description

Technical Field

[0001] The present application relates to the field of intelligent navigation technology, and in particular to a method, system, device and storage medium for testing and evaluating the intelligent navigation function of a ship. Background Art

[0002] In recent years, with the development of the internet, virtual simulation and artificial intelligence technologies have gradually matured, allowing people to enjoy the convenience brought by high technology. Today, virtual simulation technology has a wide range of applications in fields such as autonomous driving and intelligent control, and is showing a rapid development trend. Within this environment, the intelligentization of ships is also gradually becoming a reality. Intelligent navigation functions enable ships to navigate autonomously within waters through intelligent control systems and avoid navigation accidents. To ensure the reliability of intelligent navigation functions, it is necessary to test each of these functions through simulation to verify their effectiveness.

[0003] However, the current testing and verification methods for ship intelligent navigation have problems with poor targeting and flexibility. They cannot adapt to complex and changeable actual navigation scenarios, and cannot test and verify the reliability of intelligent navigation functions at different levels, and cannot accurately verify the reliability of ship intelligent navigation functions. Summary of the Invention

[0004] The purpose of the present invention is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0005] To this end, an object of an embodiment of the present invention is to provide a method for testing and evaluating the intelligent navigation function of a ship, which achieves accurate and comprehensive intelligent navigation function scoring and reliability verification.

[0006] Another object of an embodiment of the present invention is to provide a ship intelligent navigation function test and evaluation system.

[0007] In order to achieve the above technical objectives, the technical solutions adopted by the embodiments of the present invention include:

[0008] In a first aspect, an embodiment of the present invention provides a method for testing and evaluating a ship's intelligent navigation function, comprising the following steps:

[0009] Setting an importance index, which is an importance scale between various indicators of the ship;

[0010] generating a first matrix according to the importance index;

[0011] Determining whether the first matrix is consistent;

[0012] If yes, normalize each column of the first matrix to generate a second matrix;

[0013] Performing weight analysis on the second matrix to obtain a first weight;

[0014] The navigation function is scored according to the first weight.

[0015] A method for testing and evaluating the intelligent navigation function of a ship in an embodiment of the present invention sets an importance index and obtains a first weight through matrix analysis. It comprehensively considers the weight distribution of different scores obtained by a ship when sailing in different waters, and uses this to score the navigation function. This improves the accuracy and reliability of the test and evaluation of the intelligent navigation function of the ship, and realizes accurate and comprehensive reliability verification of the intelligent navigation function of the ship.

[0016] In addition, the ship intelligent navigation function test and evaluation method according to the above embodiment of the present invention may also have the following additional technical features:

[0017] Furthermore, in a ship intelligent navigation function test and evaluation method according to an embodiment of the present invention, generating a first matrix according to the importance index includes:

[0018] Generate the third matrix;

[0019] Calculating the value of each element in the third matrix according to the importance index;

[0020] Fill the values of the respective elements into the third matrix to obtain the first matrix.

[0021] Furthermore, in one embodiment of the present invention, determining whether the first matrix is consistent includes:

[0022] Obtaining the maximum eigenvalue of the first matrix;

[0023] Calculating a consistency index based on the maximum eigenvalue;

[0024] Obtain reference consistency indicators;

[0025] Calculating a consistency ratio according to the consistency index and the reference consistency index;

[0026] Whether the first matrix is consistent is determined according to the consistency ratio.

[0027] Furthermore, in one embodiment of the present invention, determining whether the first matrix is consistent according to the consistency ratio includes:

[0028] When the consistency ratio is less than 0.1, it is determined that the first matrix is consistent;

[0029] When the consistency ratio is greater than or equal to 0.1, it is determined that the first matrix is inconsistent.

[0030] Furthermore, in one embodiment of the present invention, the determining whether the first matrix is consistent further includes:

[0031] If not, return to the step of setting the importance index.

[0032] Furthermore, in one embodiment of the present invention, the navigation function includes intelligent perception, intelligent decision-making and intelligent control;

[0033] Before the step of scoring the navigation function according to the first weight, the method further includes:

[0034] A first score, a second score, and a third score are calculated, wherein the first score is the score of the intelligent perception, the second score is the score of the intelligent decision-making, and the third score is the score of the intelligent control.

[0035] Furthermore, in one embodiment of the present invention, scoring the navigation function according to the first weight includes:

[0036] Calculating according to the first weight to obtain a second weight, where the second weight is a score weight corresponding to the first score, the second score, and the third score;

[0037] A navigation function score is performed according to the first score, the second score, the third score and the second weight.

[0038] In a second aspect, an embodiment of the present invention provides a ship intelligent navigation function test and evaluation system, comprising:

[0039] Importance index setting module, used to set importance index;

[0040] A first matrix generating module, configured to generate a first matrix according to the importance index;

[0041] A consistency judgment module, configured to judge whether the first matrix is consistent;

[0042] A second matrix generating module is configured to perform normalization processing on each column of the first matrix to generate a second matrix;

[0043] A first weight acquisition module, configured to perform weight analysis on the second matrix to obtain a first weight;

[0044] The navigation function scoring module is used to score the navigation function according to the first weight.

[0045] In a third aspect, an embodiment of the present invention provides a device for testing and evaluating a ship's intelligent navigation function, comprising:

[0046] at least one processor;

[0047] at least one memory for storing at least one program;

[0048] When the at least one program is executed by the at least one processor, the at least one processor implements the ship intelligent navigation function test and evaluation method.

[0049] In a fourth aspect, an embodiment of the present invention provides a storage medium storing a program executable by a processor, wherein the program executable by the processor is used to implement the method for testing and evaluating the intelligent navigation function of a ship when executed by the processor.

[0050] The advantages and benefits of the present invention will be described in part in the following description and will become apparent from the following description or learned through practice of the present application:

[0051] The embodiment of the present invention sets an importance index and obtains a first weight through matrix analysis, comprehensively considering the weight distribution of different scores obtained by a ship when sailing in different waters, and uses this to score the navigation function, thereby improving the accuracy and reliability of the ship's intelligent navigation function test and evaluation, and realizing accurate and comprehensive reliability verification of the ship's intelligent navigation function. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following introduction is made to the drawings of the embodiments of the present application or the related technical solutions in the prior art. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solutions of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative work.

[0053] Figure 1 This is a flow chart of a specific embodiment of a method for testing and evaluating a ship's intelligent navigation function according to the present invention;

[0054] Figure 2 This is a structural diagram of a specific embodiment of a ship intelligent navigation function test and evaluation system of the present invention;

[0055] Figure 3 The figure is a structural diagram of a specific embodiment of a device for testing and evaluating the intelligent navigation function of a ship according to the present invention. DETAILED DESCRIPTION

[0056] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application. The step numbers in the following embodiments are provided only for the convenience of explanation and do not limit the order of the steps. The order of execution of the steps in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0057] The terms "first," "second," "third," and "fourth," etc., in the specification, claims, and accompanying drawings of the present invention are used to distinguish between different items, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0058] References to "embodiments" in this disclosure mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the disclosure. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0059] In recent years, with the development of the internet, virtual simulation and artificial intelligence technologies have gradually matured, allowing people to enjoy the convenience brought by high technology. Today, virtual simulation technology has a wide range of applications in fields such as autonomous driving and intelligent control, and is showing a rapid development trend. Within this environment, the intelligentization of ships is also gradually becoming a reality. Intelligent navigation functions enable ships to navigate autonomously within waters through intelligent control systems and avoid navigation accidents. To ensure the reliability of intelligent navigation functions, it is necessary to test each of these functions through simulation to verify their effectiveness.

[0060] However, the current testing and verification methods for ship intelligent navigation have problems with poor targeting and flexibility. They cannot adapt to complex and changeable actual navigation scenarios, and cannot test and verify the reliability of intelligent navigation functions at different levels, and cannot accurately verify the reliability of ship intelligent navigation functions.

[0061] To this end, the present invention proposes a method and system for testing and evaluating the intelligent navigation function of ships. By setting importance indicators and obtaining the first weight through matrix analysis, the weight distribution of different scores obtained by ships in different waters is comprehensively considered to score the navigation function, thereby improving the accuracy and reliability of the test and evaluation of the intelligent navigation function of ships, and realizing accurate and comprehensive reliability verification of the intelligent navigation function of ships.

[0062] A ship intelligent navigation function test and evaluation method and system proposed in an embodiment of the present invention will be described in detail below with reference to the accompanying drawings. First, a ship intelligent navigation function test and evaluation method proposed in an embodiment of the present invention will be described with reference to the accompanying drawings.

[0063] Reference Figure 1 , an embodiment of the present invention provides a method for testing and evaluating the intelligent navigation function of a ship. The method for testing and evaluating the intelligent navigation function of a ship in the embodiment of the present invention can be applied to a terminal, can be applied to a server, and can also be software running in a terminal or a server. The terminal can be a tablet computer, a laptop computer, a desktop computer, etc., but is not limited to this. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks (CDNs), and big data and artificial intelligence platforms. A method for testing and evaluating the intelligent navigation function of a ship in an embodiment of the present invention mainly includes the following steps:

[0064] S101. Set importance indicators;

[0065] The importance index is the importance scale between various indicators of the ship.

[0066] Specifically, by summarizing a large amount of rich navigation experience, in different navigation scenarios, the importance scales of various indicators are set according to the meaning of each indicator of the ship. It is understandable that the importance indicators show irregular dynamic changes according to different navigation scenarios.

[0067] In the embodiment of the present invention, the importance index a ij Indicates indicator a i For indicator a j The importance scale, importance index a ij The scale table is as follows:

[0068] <![CDATA[Importance index a ij > meaning 1 <![CDATA[Indicator a i and Indicator a j are equally important]]> 3 <![CDATA[Indicator a i and Indicator a j is slightly important]]> 5 <![CDATA[Indicator a i and Indicator a j are significantly important]]> 7 <![CDATA[Indicator a i and Indicator a j are very important]]> 9 <![CDATA[Indicator a i and Indicator a j are extremely important]]> 2,4,6,8 The median value of the above adjacent importance reciprocal <![CDATA[Importance index a ji Importance index a ij reciprocal]]>

[0069] According to the importance index a ij From the scale table, we can see that when the index ai For indicator a j When the importance scale is 3, a ij =3,a ji =1 / 3.

[0070] S102, generating a first matrix according to the importance index;

[0071] Specifically, a first matrix is generated according to the importance index described in step S101.

[0072] S102 can be further divided into the following steps S1021-S1022:

[0073] Step S1021: Generate a third matrix;

[0074] Step S1022: Fill the importance index into the third matrix to obtain the first matrix.

[0075] Specifically, the importance indicators are arranged and filled into the third matrix to obtain the first matrix.

[0076]

[0077] S103, determining whether the first matrix is consistent;

[0078] It is understandable that the first matrix established by the importance index may have inconsistent elements. For example, if index A is more important than index B, and index A is more important than index C, then if index C is more important than index A in the first matrix, it means that the elements in the first matrix are inconsistent and therefore inconsistent.

[0079] S103 can be further divided into the following steps S1031-S1032:

[0080] Step S1031: Obtain the maximum eigenvalue of the first matrix;

[0081] Specifically, calculate the maximum eigenvalue λ of the first matrix max .

[0082] Step S1032: Calculate the consistency index according to the maximum eigenvalue;

[0083] Specifically, the consistency indicators are:

[0084]

[0085] Step S1033: Obtain reference consistency index;

[0086] The reference consistency index RI is an authoritative judgment index already in the field of statistics.

[0087] Specifically, the reference consistency index RI is shown in the following table:

[0088] n 1 2 3 4 5 6 7 8 9 10 RI 0 0 0.52 0.89 1.12 1.36 1.41 1.46 1.49 1.49

[0089] Step 1034: Calculate the consistency ratio based on the consistency index and the reference consistency index;

[0090] Specifically, the consistency ratio:

[0091]

[0092] Step S1035: Determine whether the first matrix is consistent according to the consistency ratio.

[0093] Specifically, when the consistency ratio is less than 0.1, it is determined that the first matrix is consistent; when the consistency ratio is greater than or equal to 0.1, it is determined that the first matrix is inconsistent.

[0094] If the first matrix is not consistent, the process returns to step S101 and regenerates the first matrix according to the importance index until the first matrix is consistent.

[0095] S104: If yes, normalize each column of the first matrix to generate a second matrix;

[0096] Specifically, each column of the first matrix is normalized to generate a second matrix

[0097]

[0098] S105: Perform weight analysis on the second matrix to obtain a first weight;

[0099] Specifically, the calculation formula for weight analysis is:

[0100]

[0101] The first weight includes multiple weights corresponding to various scores of the navigation function.

[0102] The navigation function includes intelligent perception, intelligent decision-making, and intelligent control. In an embodiment of the present invention, the method further includes calculating a first score, a second score, and a third score, wherein the first score is the score of the intelligent perception, the second score is the score of the intelligent decision-making, and the third score is the score of the intelligent control.

[0103] Specifically, in an embodiment of the present invention:

[0104] (1) Calculate the first score:

[0105] a. Place targets on the test site when the ship is undergoing sea trials;

[0106] b. The ship senses the target's position and records it as the first position, and records the target's actual position as the second position;

[0107] c. Obtain the distance L1 from the ship to the first position, obtain the distance L2 from the ship to the second position, and obtain the distance D between the first position and the second position;

[0108] d. Calculate the projection L of L1 on L2 and calculate the relative distance coefficient: S = 100*D / L;

[0109] e. Obtain the first score based on the relative distance coefficient S, as shown in the following table:

[0110] Relative distance coefficient S score 0～1 5 1～2 4 2～3 3 3～5 2 5～10 1 >10 0

[0111] (2) Calculate the second score:

[0112] By making a decision and comparing the prescribed navigation situation with the actual navigation situation of the ship, the judgment error is obtained, and the judgment error is scored to obtain the second score, as shown in the following table:

[0113] Judgment error (%) The score given for this judgment 0～10 5 10～15 4 15～20 3 20～30 2 30～35 1 >35 0

[0114] (3) Calculate the third score:

[0115] a. Discretize the actual navigation route of the ship and the prescribed navigation route to obtain a discretization curve;

[0116] b. Establish a coordinate system containing all points of the discretized curves of the two routes;

[0117] c. The correlation between the two curves was evaluated using the overall Pearson correlation coefficient.

[0118] Specifically, by X:{X1,X2,…,X n} and Y:{Y1,Y2,…,Y n}, and get the overall mean:

[0119]

[0120] The population covariance is obtained from the population mean:

[0121]

[0122] Get the standard deviation from the population mean:

[0123]

[0124] The overall Pearson correlation coefficient is obtained by the overall covariance and standard deviation:

[0125]

[0126] Determine the correlation between two curves:

[0127] Correlation burden just No correlation -0.09～0 0～0.09 Weak correlation -0.3～0.1 0.1～0.3 Moderate correlation -0.5～-0.3 0.3～0.5 Strong correlation -1.0～-0.5 0.5～1.0

[0128] For local locations where the ship's navigation route deviates significantly, the Euclidean distance combined with the cosine similarity method is used for further analysis:

[0129] Euclidean distance:

[0130]

[0131] Cosine similarity:

[0132] In n-only space, for vector A=(a1,a2,…,a n ), B=(b1,b2,…,b n ), its cosine is:

[0133]

[0134] Get the distance metric based on Euclidean distance:

[0135] L=d(x,y)*100

[0136] In an embodiment of the present invention, a comprehensive scoring of the third score is performed based on the Pearson correlation coefficient P, the distance index L, and the cosine similarity R:

[0137] Pearson correlation coefficient P Distance index L Cosine similarity R score 0～1 0.90～1.00 5 Strong correlation 1～2 0.87～0.90 4 Moderate correlation 2～3 0.85～0.87 3 3～5 0.82～0.85 2 Weak correlation 5～10 0.80～0.82 1 No correlation >10 <0.8 0

[0138] Three scores are obtained: F(P), F(L) and F(R).

[0139] In the embodiment of the present invention, the correlation coefficient analysis was performed by SPSS to obtain the final weight distribution of F(P), F(L) and F(R), and the final total score was:

[0140] F=a*F(P)+b*F(L)+c*F(R)

[0141] S106. Score the navigation function according to the first weight.

[0142] Specifically, as can be seen from step S105, the first weight includes multiple weights corresponding to the first score, the second score, and the third score of the navigation function. The final score weight is calculated using the multiple weights corresponding to each score, and the navigation function score is calculated based on this, that is, the navigation function score is performed.

[0143] S106 can be further divided into the following steps S1061-S1062:

[0144] Step S1061: Calculate according to the first weight to obtain a second weight, where the second weight is the score weight corresponding to the first score, the second score, and the third score;

[0145] Step S1062: Score the navigation function according to the first score, the second score, the third score and the second weight.

[0146] Secondly, a ship intelligent navigation function test and evaluation system proposed according to an embodiment of the present application is described with reference to the accompanying drawings.

[0147] Figure 2 This is a structural diagram of a ship intelligent navigation function test and evaluation system according to an embodiment of the present application.

[0148] The system specifically includes:

[0149] Importance index setting module 201, used to set importance index;

[0150] A first matrix generating module 202 is configured to generate a first matrix according to the importance index;

[0151] A consistency determination module 203 is configured to determine whether the first matrix is consistent;

[0152] A second matrix generating module 204 is configured to perform normalization processing on each column of the first matrix to generate a second matrix;

[0153] A first weight acquisition module 205 is configured to perform weight analysis on the second matrix to obtain a first weight;

[0154] The navigation function scoring module 206 is configured to score the navigation function according to the first weight.

[0155] It can be seen that the contents of the above method embodiments are all applicable to the present system embodiments. The functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0156] Reference Figure 3, an embodiment of the present application provides a device for testing and evaluating the intelligent navigation function of a ship, comprising:

[0157] at least one processor 301;

[0158] At least one memory 302, configured to store at least one program;

[0159] When the at least one program is executed by the at least one processor 301, the at least one processor 301 implements the ship intelligent navigation function test and evaluation method.

[0160] Similarly, the contents of the above method embodiments are applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0161] In some optional embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiments presented and described in the flow chart of the present application are provided in an exemplary manner for the purpose of providing a more comprehensive understanding of the technology. The disclosed method is not limited to the operations and logical flows presented herein. Optional embodiments are contemplated in which the order of the various operations is changed and the sub-operations described as a part of a larger operation are performed independently.

[0162] In addition, although the present application is described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in separate physical devices or software modules. It is also understood that a detailed discussion of the actual implementation of each module is not necessary for understanding the present application. More specifically, given the properties, functions, and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the module will be understood within the routine skills of an engineer. Therefore, a person skilled in the art can implement the present application as set forth in the claims using ordinary techniques without undue experimentation. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present application, which is determined by the full scope of the appended claims and their equivalents.

[0163] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several programs for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0164] The logic and / or steps represented in a flowchart or otherwise described herein, for example, may be considered as an ordered list of executable programs for implementing the logical functions, and may be embodied in any computer-readable medium for use by, or in conjunction with, a program execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can retrieve and execute a program from a program execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, a program execution system, apparatus, or device.

[0165] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0166] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable program execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0167] In the above description of this specification, reference to the terms "one embodiment / example," "another embodiment / example," or "certain embodiments / examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples.

[0168] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

[0169] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present application. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A method for testing and evaluating ship intelligent navigation functions, characterized in that: The following steps are involved: Setting an importance index, which is an importance scale between various indicators of the ship; generating a first matrix according to the importance index; Determining whether the first matrix is consistent; If yes, normalize each column of the first matrix to generate a second matrix; Performing weight analysis on the second matrix to obtain a first weight; Performing a navigation function score according to the first weight; Said navigation functions include intelligent perception, intelligent decision-making and intelligent control; Before the step of scoring the navigation function according to the first weight, the method further includes: Calculating a first score, a second score, and a third score, wherein the first score is the score of the intelligent perception, the second score is the score of the intelligent decision-making, and the third score is the score of the intelligent control; Calculating a first score includes: placing a target in a test field when the ship is conducting a navigation test; the ship senses a position of the target and records it as a first position, and records the actual position of the target as a second position; obtaining a distance L1 from the ship to the first position, obtaining a distance L2 from the ship to the second position, and obtaining a distance D between the first position and the second position; calculating a projection L of L1 on L2 and calculating a relative distance coefficient; and obtaining the first score based on the relative distance coefficient. Calculating a second score includes: making a decision, comparing a prescribed navigation condition made by the decision with an actual navigation condition of the ship, obtaining a judgment error, and scoring according to the judgment error to obtain the second score; Calculating a third score includes: discretizing the actual navigation route of the ship and the prescribed navigation route to obtain a discretized curve; establishing a coordinate system containing all points of the discretized curves of the two routes; evaluating the correlation between the two curves using an overall Pearson correlation coefficient; and calculating the third score based on the overall Pearson correlation coefficient, a distance index of the two curves, and a cosine similarity of the two curves. The scoring of the navigation function according to the first weight includes: Calculating according to the first weight to obtain a second weight, where the second weight is a score weight corresponding to the first score, the second score, and the third score; A navigation function score is performed according to the first score, the second score, the third score and the second weight.

2. A ship intelligent navigation function test and evaluation method according to claim 1, characterized in that: Generating a first matrix according to the importance index includes: Generate the third matrix; Fill the importance index into the third matrix to obtain the first matrix.

3. A ship intelligent navigation function test and evaluation method according to claim 1, characterized in that: The determining whether the first matrix is consistent includes: Obtaining the maximum eigenvalue of the first matrix; Calculating a consistency index based on the maximum eigenvalue; Obtain reference consistency indicators; Calculating a consistency ratio according to the consistency index and the reference consistency index; Whether the first matrix is consistent is determined according to the consistency ratio.

4. A ship intelligent navigation function test and evaluation method according to claim 3, characterized in that: The determining whether the first matrix is consistent according to the consistency ratio includes: When the consistency ratio is less than 0.1, it is determined that the first matrix is consistent; When the consistency ratio is greater than or equal to 0.1, it is determined that the first matrix is inconsistent.

5. A ship intelligent navigation function test and evaluation method according to claim 1, characterized in that: The determining whether the first matrix is consistent further includes: If not, return to the step of setting the importance index.

6. A ship intelligent navigation function test and evaluation system, characterized in that: include: Importance index setting module, used to set importance index; A first matrix generating module, configured to generate a first matrix according to the importance index; A consistency judgment module, configured to judge whether the first matrix is consistent; A second matrix generating module is configured to perform normalization processing on each column of the first matrix to generate a second matrix; A first weight acquisition module, configured to perform weight analysis on the second matrix to obtain a first weight; A navigation function scoring module is used to score navigation functions, wherein the navigation functions include intelligent perception, intelligent decision-making, and intelligent control; a first score, a second score, and a third score are calculated, wherein the first score is the score of the intelligent perception, the second score is the score of the intelligent decision-making, and the third score is the score of the intelligent control; Calculating the first score includes: placing a target in a test field when the ship is conducting a navigation test; the ship senses the position of the target and records it as the first position, and records the actual position of the target as the second position; obtaining the distance L1 from the ship to the first position, obtaining the distance L2 from the ship to the second position, and obtaining the distance D between the first position and the second position; calculating the projection L of L1 on L2, and calculating the relative distance coefficient; obtaining the first score according to the relative distance coefficient S; calculating the second score includes: making a decision, and comparing the prescribed navigation situation made by the decision with the actual navigation situation of the ship to obtain a judgment error, and scoring according to the judgment error to obtain the second score; calculating the third score The scoring method comprises: discretizing the actual navigation route of the ship and the prescribed navigation route to obtain a discretized curve; establishing a coordinate system of all points of the discretized curves containing the two routes; judging the correlation between the two curves by the overall Pearson correlation coefficient; calculating a third score according to the overall Pearson correlation coefficient, the distance index of the two curves and the cosine similarity of the two curves; calculating according to the first weight to obtain a second weight, the second weight being the score weight corresponding to the first score, the second score and the third score; and scoring the navigation function according to the first score, the second score, the third score and the second weight.

7. A ship intelligent navigation function test and evaluation device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements a ship intelligent navigation function test and evaluation method according to any one of claims 1 to 5.

8. A storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to implement a ship intelligent navigation function test and evaluation method according to any one of claims 1 to 5 when executed by the processor.

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