A Ship Attitude Monitoring Method and System Based on HarmonyOS

Abstract

The present invention discloses a ship attitude monitoring method and system based on the HarmonyOS. The method includes: obtaining ship information in real time through a terminal device based on the HarmonyOS; according to the ship information, calculating the rolling angle change trend value, pitching angle change trend value and heading angle change trend value of the ship through a set ship navigation angle change function; calculating the angular velocity change trend value of the ship around the x-axis, angular velocity change trend value around the y-axis and angular velocity change trend value around the z-axis of the ship through a set function of the environment's influence on the ship; setting up a ship navigation attitude evaluation model, and calculating a comprehensive evaluation value of the ship navigation attitude according to the calculation results of the ship navigation angle change function and the function of the environment's influence on the ship; when the comprehensive evaluation value of the ship navigation attitude exceeds a preset range threshold, an alarm is given.

Description

Technical Field

[0001] The present invention belongs to the technical field of ship attitude monitoring, and more specifically, relates to a ship attitude monitoring method and system based on the HarmonyOS. Background Art

[0002] The navigation attitude warning technology of ships is an important part of the ship safety field, which involves the monitoring and warning of the stability, attitude control, and environmental factors such as wind and waves during the navigation of ships. The following is the technical status quo in ship navigation attitude warning:

[0003] Inertial Navigation System (INS): INS uses sensors such as gyroscopes and accelerometers to measure the attitude, acceleration, and angular velocity of ships. Through data fusion and algorithm processing, it provides real-time ship attitude information. INS plays an important role in ship attitude control and navigation and can be used for navigation attitude warning.

[0004] GNSS (Global Navigation Satellite System): Satellite navigation systems such as Beidou, GPS, and GLONASS can provide the position, speed, and heading information of ships. Combining with the inertial navigation system can achieve more accurate ship attitude monitoring and warning.

[0005] Radar and laser rangefinder: Radar and laser rangefinder can be used to monitor the environment around the ship, including other ships, the shore, and obstacles, etc. By detecting the position and distance of these targets, it can early warn of possible collisions or dangerous situations.

[0006] Pressure sensors and tilt sensors: Pressure sensors and tilt sensors installed at different positions of the ship can monitor the tilt angle and horizontal position of the ship, so as to timely detect the tilt or instability of the ship and give warnings and controls.

[0007] However, there is no technical solution in the prior art that can intelligently and efficiently monitor the navigation attitude of ships based on ship information and environmental information, and thus give danger warnings according to the attitude. Summary of the Invention

[0008] To solve the above technical problems, the present invention proposes a ship attitude monitoring method based on the HarmonyOS, including:

[0009] Real-time obtaining ship information of the ship through a terminal device based on the HarmonyOS. According to the ship information, through a set ship navigation angle change function, calculating the roll angle change trend value of the ship, the pitch angle change trend value of the ship, and the heading angle change trend value of the ship. Through a set function of the environment's influence on the ship, calculating the angular velocity change trend value of the ship around the x-axis, the angular velocity change trend value of the ship around the y-axis, and the angular velocity change trend value of the ship around the z-axis;

[0010] Set up a ship navigation attitude evaluation model, and calculate the comprehensive evaluation value of the ship navigation attitude according to the calculation results of the ship navigation angle change function and the function of the influence of the environment on the ship. When the comprehensive evaluation value of the ship navigation attitude exceeds the preset range threshold, an alarm is given.

[0011] Further, the ship information includes: the angular velocity of the ship around the x-axis, the roll angle of the ship, the pitch angle of the ship, the angular velocity of the ship around the y-axis, the angular velocity of the ship around the z-axis, the control moment of the ship around the x-axis, the moment of inertia of the ship around the x-axis, the control moment of the ship around the y-axis, the moment of inertia of the ship around the y-axis, the control moment of the ship around the z-axis, and the moment of inertia of the ship around the z-axis.

[0012] Further, the ship navigation angle change function includes:

[0013]

[0014]

[0015] Among them, is the roll angle change trend value of the ship, ω roll is the angular velocity of the ship around the x-axis, θ roll is the roll angle of the ship, θ pitch is the pitch angle of the ship, ω pitch is the angular velocity of the ship around the y-axis, ω yaw is the angular velocity of the ship around the z-axis, τ roll is the control moment of the ship around the x-axis, I xx is the moment of inertia of the ship around the x-axis, is the pitch angle change trend value of the ship, τ pitch is the control moment of the ship around the y-axis, I yy is the moment of inertia of the ship around the y-axis, is the heading angle change trend value of the ship, τ yaw is the control moment of the ship around the z-axis, I zz is the moment of inertia of the ship around the z-axis.

[0016] Further, the function of the influence of the environment on the ship, which is used to characterize the influence of the force of the environment on the ship, includes:

[0017]

[0018] Among them, is the angular velocity change trend value of the ship around the x-axis, M x is the external moment received by the ship around the x-axis, is the angular velocity change trend value of the ship around the y-axis, M yis the external moment acting on the ship about the y-axis, is the trend value of the angular velocity of the ship about the z-axis, M z is the external moment acting on the ship about the Z-axis.

[0019] Further, the ship navigation attitude evaluation model includes:

[0020]

[0021] where f is the comprehensive evaluation value of the ship navigation attitude, α is the first adjustment factor, and β is the second adjustment factor.

[0022] Further, the forces exerted by the environment on the ship include: the forces exerted by the waves on the ship and / or the forces exerted by the sea breeze on the ship.

[0023] Further, the warning information is conveyed through sound, light, and / or text information so that the crew can take measures in a timely manner.

[0024] Further, according to the warning information, by adjusting the navigation parameters of the ship related to the ship itself in the ship information, the ship is ensured to be in a safe and stable state.

[0025] The present invention also proposes a ship attitude monitoring system based on the HarmonyOS, including:

[0026] An information acquisition module, configured to obtain the ship information in real time through a terminal device based on the HarmonyOS, and according to the ship information, calculate the roll angle change trend value, the pitch angle change trend value, and the heading angle change trend value of the ship through a set ship navigation angle change function, and calculate the angular velocity change trend values of the ship about the x-axis, the y-axis, and the z-axis of the ship through a set function of the influence of the environment on the ship;

[0027] An evaluation module, configured to set a ship navigation attitude evaluation model, and calculate a comprehensive evaluation value of the ship navigation attitude according to the calculation results of the ship navigation angle change function and the function of the influence of the environment on the ship, and give an alarm when the comprehensive evaluation value of the ship navigation attitude exceeds a preset range threshold.

[0028] Further, the ship navigation angle change function includes:

[0029]

[0030] where, is the roll angle change trend value of the ship, ω roll is the angular velocity of the ship about the x-axis, θ roll is the roll angle of the ship, θ pitchis the pitch angle of the ship, ω pitch is the angular velocity of the ship about the y-axis, ω yaw is the angular velocity of the ship about the z-axis, τ roll is the control moment of the ship about the x-axis, I xx is the moment of inertia of the ship about the x-axis, is the pitch angle change trend value of the ship, τ pitch is the control moment of the ship about the y-axis, I yy is the moment of inertia of the ship about the y-axis, is the course angle change trend value of the ship, τ yaw is the control moment of the ship about the z-axis, I zz is the moment of inertia of the ship about the z-axis.

[0031] Compared with the prior art through the above technical solutions conceived by the present invention, the following beneficial effects are obtained:

[0032] Through the above technical solutions, the present invention can calculate the navigation angle of the ship and the influence of wind and waves in the environment when the ship is sailing according to the real-time obtained ship information, so as to judge whether the ship is in danger, such as the risk of capsizing, greatly improving the navigation safety of the ship. Description of the Drawings

[0033] Figure 1 is the flowchart of the method of Embodiment 1 of the present invention;

[0034] Figure 2 is the system structure diagram of Embodiment 2 of the present invention. Detailed Embodiments

[0035] In order to better understand the above technical solutions, the following will describe the above technical solutions in detail in conjunction with the accompanying drawings of the specification and specific embodiments.

[0036] The method provided by the present invention can be implemented in the following terminal environment. The terminal may include one or more of the following components: a processor, a storage medium, and a display screen. Among them, at least one instruction is stored in the storage medium, and the instruction is loaded and executed by the processor to implement the method described in the following embodiments.

[0037] The processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts within the entire terminal, and executes various functions of the terminal and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the storage medium, and by calling data stored in the storage medium.

[0038] The storage medium may include a Random Access Memory (RAM), or may also include a Read-Only Memory (ROM). The storage medium can be used to store instructions, programs, codes, code sets or instructions.

[0039] The display screen is used to display the interaction cross-sections of various application programs.

[0040] In all the subscripts in the formula of the present invention, they are only for differentiating parameters and have no actual meaning.

[0041] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal. The terminal may include more or fewer components, or combine certain components, or have different component arrangements. For example, the terminal also includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, a power supply, etc., which will not be elaborated here.

[0042] Embodiment 1

[0043] As Figure 1 shown, an embodiment of the present invention provides a ship attitude monitoring method based on the HarmonyOS, including:

[0044] Step 101, obtaining the ship information in real time through a terminal device based on the HarmonyOS. According to the ship information, calculating the roll angle change trend value, pitch angle change trend value and heading angle change trend value of the ship through a set ship navigation angle change function, and calculating the angular velocity change trend value of the ship around the x-axis, angular velocity change trend value of the ship around the y-axis and angular velocity change trend value of the ship around the z-axis through a set environmental influence function on the ship;

[0045] Specifically, the ship information includes: angular velocity of the ship around the x-axis, roll angle of the ship, pitch angle of the ship, angular velocity of the ship around the y-axis, angular velocity of the ship around the z-axis, control torque of the ship around the x-axis, moment of inertia of the ship around the x-axis, control torque of the ship around the y-axis, moment of inertia of the ship around the y-axis, control torque of the ship around the z-axis and moment of inertia of the ship around the z-axis.

[0046] Specifically, the ship navigation angle change function includes:

[0047]

[0048] Among them, is the roll angle change trend value of the ship, ω roll is the angular velocity of the ship around the x-axis, θ roll is the roll angle of the ship, θ pitch is the pitch angle of the ship, ω pitchis the angular velocity of the ship about the y-axis, ω yaw is the angular velocity of the ship about the z-axis, τ roll is the control moment of the ship about the x-axis, I xx is the moment of inertia of the ship about the x-axis, is the pitching angle change trend value of the ship, τ pitch is the control moment of the ship about the y-axis, I yy is the moment of inertia of the ship about the y-axis, is the heading angle change trend value of the ship, τ yaw is the control moment of the ship about the z-axis, I zz is the moment of inertia of the ship about the z-axis.

[0049] Specifically, the influence function of the environment on the ship, which is used to characterize the influence of the force exerted by the environment on the ship, includes:

[0050]

[0051] Among them, is the angular velocity change trend value of the ship about the x-axis, M x is the external moment acting on the ship about the x-axis, is the angular velocity change trend value of the ship about the y-axis, M y is the external moment acting on the ship about the y-axis, is the angular velocity change trend value of the ship about the z-axis, M z is the external moment acting on the ship about the Z-axis.

[0052] Step 102, set up a ship navigation attitude evaluation model, and calculate the comprehensive evaluation value of the ship navigation attitude according to the calculation results of the ship navigation angle change function and the influence function of the environment on the ship. When the comprehensive evaluation value of the ship navigation attitude exceeds the preset range threshold, an alarm is issued.

[0053] Specifically, the ship navigation attitude evaluation model includes:

[0054]

[0055] Among them, f is the comprehensive evaluation value of the ship navigation attitude, α is the first adjustment factor, and β is the second adjustment factor.

[0056] Specifically, the force exerted by the environment on the ship includes: the force exerted by sea waves on the ship and / or the force exerted by sea wind on the ship.

[0057] Specifically, the alarm information is conveyed through sound, light, and / or text information so that the crew can take measures in time.

[0058] Specifically, according to the warning information, the navigation parameters of the ship itself involved in the ship information are adjusted to ensure that the ship is in a safe and stable state.

[0059] Embodiment 2

[0060] As Figure 2 shown, an embodiment of the present invention also proposes a ship attitude monitoring method based on the HarmonyOS, including:

[0061] An information acquisition module, configured to obtain the ship information in real time through a terminal device based on the HarmonyOS, calculate the roll angle change trend value, pitch angle change trend value, and heading angle change trend value of the ship according to the ship information through a set ship navigation angle change function, and calculate the angular velocity change trend value of the ship around the x-axis, angular velocity change trend value of the ship around the y-axis, and angular velocity change trend value of the ship around the z-axis through a set function of the environment's influence on the ship;

[0062] Specifically, the ship information includes: angular velocity of the ship around the x-axis, roll angle of the ship, pitch angle of the ship, angular velocity of the ship around the y-axis, angular velocity of the ship around the z-axis, control moment of the ship around the x-axis, moment of inertia of the ship around the x-axis, control moment of the ship around the y-axis, moment of inertia of the ship around the y-axis, control moment of the ship around the z-axis, and moment of inertia of the ship around the z-axis.

[0063] Specifically, the ship navigation angle change function includes:

[0064]

[0065]

[0066] wherein, is the roll angle change trend value of the ship, ω roll is the angular velocity of the ship around the x-axis, θ roll is the roll angle of the ship, θ pitch is the pitch angle of the ship, ω pitch is the angular velocity of the ship around the y-axis, ω yaw is the angular velocity of the ship around the z-axis, τ roll is the control moment of the ship around the x-axis, I xx is the moment of inertia of the ship around the x-axis, is the pitch angle change trend value of the ship, τ pitch is the control moment of the ship around the y-axis, I yy is the moment of inertia of the ship around the y-axis, is the heading angle change trend value of the ship, τ yaw is the control moment of the ship around the z-axis, I zz is the moment of inertia of the ship around the z-axis.

[0067] Specifically, the influence function of the environment on the ship is used to characterize the influence of the force exerted by the environment on the ship on the ship, including:

[0068]

[0069] Among them, is the angular velocity change trend value of the ship around the x-axis, and M x is the external torque received by the ship around the x-axis. is the angular velocity change trend value of the ship around the y-axis, and M y is the external torque received by the ship around the y-axis. is the angular velocity change trend value of the ship around the z-axis, and M z is the external torque received by the ship around the z-axis.

[0070] The evaluation module is used to set up a ship navigation attitude evaluation model, and calculate the comprehensive evaluation value of the ship navigation attitude according to the calculation results of the ship navigation angle change function and the influence function of the environment on the ship. When the comprehensive evaluation value of the ship navigation attitude exceeds the preset range threshold, an alarm is issued.

[0071] Specifically, the ship navigation attitude evaluation model includes:

[0072]

[0073] Among them, f is the comprehensive evaluation value of the ship navigation attitude, a is the first adjustment factor, and β is the second adjustment factor.

[0074] Specifically, the force exerted by the environment on the ship includes: the force exerted by the sea wave on the ship and / or the force exerted by the sea wind on the ship.

[0075] Specifically, the alarm information is conveyed through sound, light, and / or text information so that the crew can take measures in time.

[0076] Specifically, according to the alarm information, the navigation parameters related to the ship itself in the ship information are adjusted to ensure that the ship is in a safe and stable state.

[0077] Embodiment 3

[0078] The embodiment of the present invention also proposes a storage medium storing multiple instructions for implementing the ship attitude monitoring method based on the HarmonyOS.

[0079] Optionally, in this embodiment, the above storage medium can be located in any computer terminal in the computer terminal group in the computer network, or in any mobile terminal in the mobile terminal group.

[0080] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps: Step 101, obtain ship information in real time through a terminal device based on the HarmonyOS, and according to the ship information, calculate the roll angle change trend value, pitch angle change trend value, and heading angle change trend value of the ship through a set ship navigation angle change function, and calculate the angular velocity change trend value of the ship around the x-axis, angular velocity change trend value of the ship around the y-axis, and angular velocity change trend value of the ship around the z-axis through a set function of the influence of the environment on the ship;

[0081] Specifically, the ship information includes: the angular velocity of the ship around the x-axis, the roll angle of the ship, the pitch angle of the ship, the angular velocity of the ship around the y-axis, the angular velocity of the ship around the z-axis, the control torque of the ship around the x-axis, the moment of inertia of the ship around the x-axis, the control torque of the ship around the y-axis, the moment of inertia of the ship around the y-axis, the control torque of the ship around the z-axis, and the moment of inertia of the ship around the z-axis.

[0082] Specifically, the ship navigation angle change function includes:

[0083]

[0084] Among them, is the roll angle change trend value of the ship, ω roll is the angular velocity of the ship around the x-axis, θ roll is the roll angle of the ship, θ pitch is the pitch angle of the ship, ω pitch is the angular velocity of the ship around the y-axis, ω yaw is the angular velocity of the ship around the z-axis, τ roll is the control torque of the ship around the x-axis, I xx is the moment of inertia of the ship around the x-axis, is the pitch angle change trend value of the ship, τ pitch is the control torque of the ship around the y-axis, I yy is the moment of inertia of the ship around the y-axis, is the heading angle change trend value of the ship, τ yaw is the control torque of the ship around the z-axis, I zz is the moment of inertia of the ship around the z-axis.

[0085] Specifically, the function of the influence of the environment on the ship, which is used to characterize the influence of the force of the environment on the ship, includes:

[0086]

[0087] Among them, is the angular velocity change trend value of the ship around the x-axis, M xis the external moment acting on the ship about the x-axis, is the trend value of the angular velocity change of the ship about the y-axis, M y is the external moment acting on the ship about the y-axis, is the trend value of the angular velocity change of the ship about the z-axis, M z is the external moment acting on the ship about the Z-axis.

[0088] Step 102: Set up a ship navigation attitude evaluation model, and calculate the comprehensive evaluation value of the ship navigation attitude according to the calculation results of the ship navigation angle change function and the function of the environment on the ship. When the comprehensive evaluation value of the ship navigation attitude exceeds the preset range threshold, an alarm is issued.

[0089] Specifically, the ship navigation attitude evaluation model includes:

[0090]

[0091] where f is the comprehensive evaluation value of the ship navigation attitude, α is the first adjustment factor, and β is the second adjustment factor.

[0092] Specifically, the forces exerted by the environment on the ship include: the forces exerted by the waves on the ship and / or the forces exerted by the sea breeze on the ship.

[0093] Specifically, the alarm information is conveyed through sound, light, and / or text information so that the crew can take measures in time.

[0094] Specifically, according to the alarm information, the navigation parameters of the ship itself involved in the ship information are adjusted to ensure that the ship is in a safe and stable state.

[0095] Embodiment 4

[0096] The embodiment of the present invention also proposes an electronic device, including a processor and a storage medium connected to the processor. The storage medium stores multiple instructions, and the instructions can be loaded and executed by the processor so that the processor can execute a ship attitude monitoring method based on the HarmonyOS.

[0097] Specifically, the electronic device in this embodiment can be a computer terminal, and the computer terminal can include: one or more processors and a storage medium.

[0098] Among them, the storage medium can be used to store software programs and modules, such as a ship attitude monitoring method based on the HarmonyOS in the embodiments of the present invention, and the corresponding program instructions / modules. The processor runs the software programs and modules stored in the storage medium to execute various functional applications and data processing, that is, to implement the above-mentioned ship attitude monitoring method based on the HarmonyOS. The storage medium can include a high-speed random access storage medium, and can also include a non-volatile storage medium, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium can further include a storage medium remotely set relative to the processor, and these remote storage media can be connected to the terminal through a network. Examples of the above network include but are not limited to the Internet, enterprise intranet, local area network, mobile communication network, and their combinations.

[0099] The processor can call the information and application programs stored in the storage medium through the transmission system to execute the steps: Step 101, obtain the ship information in real time through a terminal device based on the HarmonyOS. According to the ship information, calculate the roll angle change trend value, pitch angle change trend value, and heading angle change trend value of the ship through the set ship navigation angle change function, and calculate the angular velocity change trend value of the ship around the x-axis, angular velocity change trend value of the ship around the y-axis, and angular velocity change trend value of the ship around the z-axis through the set function of the environment's influence on the ship.

[0100] Specifically, the ship information includes: the angular velocity of the ship around the x-axis, the roll angle of the ship, the pitch angle of the ship, the angular velocity of the ship around the y-axis, the angular velocity of the ship around the z-axis, the control moment of the ship around the x-axis, the moment of inertia of the ship around the x-axis, the control moment of the ship around the y-axis, the moment of inertia of the ship around the y-axis, the control moment of the ship around the z-axis, and the moment of inertia of the ship around the z-axis.

[0101] Specifically, the ship navigation angle change function includes:

[0102]

[0103] Among them, is the roll angle change trend value of the ship, ω roll is the angular velocity of the ship around the x-axis, θ roll is the roll angle of the ship, θ pitch is the pitch angle of the ship, ω pitch is the angular velocity of the ship around the y-axis, ω yaw is the angular velocity of the ship around the z-axis, τ roll is the control moment of the ship around the x-axis, I xx is the moment of inertia of the ship around the x-axis, is the pitch angle change trend value of the ship, τ pitchis the control moment of the ship about the y-axis, I yy is the moment of inertia of the ship about the y-axis, is the trend value of the ship's heading angle change, τ yaw is the control moment of the ship about the z-axis, I zz is the moment of inertia of the ship about the z-axis.

[0104] Specifically, the influence function of the environment on the ship, which is used to characterize the influence of the force exerted by the environment on the ship, includes:

[0105]

[0106] Among them, is the trend value of the angular velocity change of the ship about the x-axis, M x is the external moment acting on the ship about the x-axis, is the trend value of the angular velocity change of the ship about the y-axis, M y is the external moment acting on the ship about the y-axis, is the trend value of the angular velocity change of the ship about the z-axis, M z is the external moment acting on the ship about the Z-axis.

[0107] Step 102, set up a ship navigation attitude evaluation model, and calculate the comprehensive evaluation value of the ship navigation attitude according to the calculation results of the ship navigation angle change function and the influence function of the environment on the ship. When the comprehensive evaluation value of the ship navigation attitude exceeds the preset range threshold, an alarm is given.

[0108] Specifically, the ship navigation attitude evaluation model includes:

[0109]

[0110] Among them, f is the comprehensive evaluation value of the ship navigation attitude, α is the first adjustment factor, and β is the second adjustment factor.

[0111] Specifically, the forces exerted by the environment on the ship include: the forces exerted by sea waves on the ship and / or the forces exerted by sea winds on the ship.

[0112] Specifically, the alarm information is conveyed through sound, light and / or text information so that the crew can take measures in time.

[0113] Specifically, according to the alarm information, the navigation parameters of the ship itself involved in the ship information are adjusted to ensure that the ship is in a safe and stable state.

[0114] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0115] In the above embodiments of the present invention, the descriptions of the various embodiments each have their own emphasis. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0116] In several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the units or modules can be in an electrical or other form.

[0117] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0118] In addition, in each embodiment of the present invention, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0119] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or 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 instructions for causing 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 methods described in the various embodiments of the present invention. The foregoing storage medium includes: USB flash drive, read-only storage medium (ROM, Read-Only Memory), random access storage medium (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disc and other various media that can store program codes.

[0120] Obviously, the above embodiments are merely examples given for clear illustration and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation manners here. And the obvious changes or modifications derived therefrom still fall within the protection scope of the present invention.

Claims

1. A ship attitude monitoring method based on the HarmonyOS, characterized in that Including: Obtain the ship information in real time through a terminal device based on the HarmonyOS operating system. According to the ship information, calculate the rolling angle change trend value, pitching angle change trend value, and heading angle change trend value of the ship through the set ship navigation angle change function, and calculate the angular velocity change trend value of the ship around the x-axis, the angular velocity change trend value of the ship around the y-axis, and the angular velocity change trend value of the ship around the z-axis through the set environmental influence function on the ship; Set up a ship navigation attitude evaluation model, and calculate the comprehensive evaluation value of the ship navigation attitude according to the calculation results of the ship navigation angle change function and the environmental influence function on the ship. When the comprehensive evaluation value of the ship navigation attitude exceeds the preset range threshold, an alarm is issued; Among them, the ship navigation angle change function includes: Among them, is the changing trend value of the roll angle of the ship, ω roll is the angular velocity of the ship about the x-axis, θ roll is the roll angle of the ship, θ pitch is the pitch angle of the ship, ω pitch is the angular velocity of the ship about the y-axis, ω yaw is the angular velocity of the ship about the z-axis, τ roll is the control moment of the ship about the x-axis, I xx is the moment of inertia of the ship about the x-axis, is the changing trend value of the pitch angle of the ship, τ pitch is the control moment of the ship about the y-axis, I yy is the moment of inertia of the ship about the y-axis, is the changing trend value of the heading angle of the ship, τ yaw is the control moment of the ship about the z-axis, I zz is the moment of inertia of the ship about the z-axis; The environmental influence function on the ship, which is used to characterize the influence of the environmental force on the ship, includes: Among them, is the angular velocity change trend value of the ship around the x-axis, M x is the external moment acting on the ship around the x-axis, is the angular velocity change trend value of the ship around the y-axis, M y is the external moment acting on the ship around the y-axis, is the angular velocity change trend value of the ship around the z-axis, M z is the external moment acting on the ship around the Z-axis; The ship navigation attitude evaluation model includes: Among them, f is the comprehensive evaluation value of the ship navigation attitude, α is the first adjustment factor, and β is the second adjustment factor.

2. The method for monitoring the ship attitude based on the HarmonyOS as claimed in claim 1, wherein, The ship information includes: the angular velocity of the ship around the x-axis, the rolling angle of the ship, the pitching angle of the ship, the angular velocity of the ship around the y-axis, the angular velocity of the ship around the z-axis, the control moment of the ship around the x-axis, the moment of inertia of the ship around the x-axis, the control moment of the ship around the y-axis, the moment of inertia of the ship around the y-axis, the control moment of the ship around the z-axis, and the moment of inertia of the ship around the z-axis.

3. The ship attitude monitoring method based on the HarmonyOS as claimed in claim 1, wherein, The environmental force on the ship includes: the force of the sea wave on the ship and / or the force of the sea breeze on the ship.

4. The ship attitude monitoring method based on the HarmonyOS as claimed in claim 1, wherein Convey the alarm information through sound, light, and / or text information so that the crew can take measures in time.

5. The method for monitoring the ship attitude based on the HarmonyOS as claimed in claim 4, wherein According to the alarm information, adjust the navigation parameters of the ship related to the ship itself to ensure that the ship is in a safe and stable state.

6. A ship attitude monitoring system based on the HarmonyOS, characterized in that, Including: An information acquisition module, which is used to obtain the ship information in real time through a terminal device based on the HarmonyOS operating system. According to the ship information, calculate the rolling angle change trend value, pitching angle change trend value, and heading angle change trend value of the ship through the set ship navigation angle change function, and calculate the angular velocity change trend value of the ship around the x-axis, the angular velocity change trend value of the ship around the y-axis, and the angular velocity change trend value of the ship around the z-axis through the set environmental influence function on the ship; An evaluation module, which is used to set up a ship navigation attitude evaluation model, and calculate the comprehensive evaluation value of the ship navigation attitude according to the calculation results of the ship navigation angle change function and the environmental influence function on the ship. When the comprehensive evaluation value of the ship navigation attitude exceeds the preset range threshold, an alarm is issued; Among them, the ship navigation angle change function includes: Among them, is the changing trend value of the roll angle of the ship, ω roll is the angular velocity of the ship about the x-axis, θ roll is the roll angle of the ship, θ pitch is the pitch angle of the ship, ω pitch is the angular velocity of the ship about the y-axis, ω yaw is the angular velocity of the ship about the z-axis, τ roll is the control moment of the ship about the x-axis, I xx is the moment of inertia of the ship about the x-axis, is the changing trend value of the pitch angle of the ship, τ pitch is the control moment of the ship about the y-axis, I yy is the moment of inertia of the ship about the y-axis, is the changing trend value of the heading angle of the ship, τ yaw is the control moment of the ship about the z-axis, I zz is the moment of inertia of the ship about the z-axis; The environmental influence function on the ship, which is used to characterize the influence of the environmental force on the ship, includes: Among them, is the angular velocity change trend value of the ship around the x-axis, M x is the external torque acting on the ship around the x-axis, is the angular velocity change trend value of the ship around the y-axis, M y is the external torque acting on the ship around the y-axis, is the angular velocity change trend value of the ship around the z-axis, M z is the external torque acting on the ship around the Z-axis; The ship navigation attitude evaluation model includes: Among them, f is the comprehensive evaluation value of the ship navigation attitude, α is the first adjustment factor, and β is the second adjustment factor.

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