A method, device, medium and program product for measuring hull deformation

Abstract

The present invention relates to the field of ship technology, and discloses a method, device, medium and program product for measuring hull deformation. The method comprises: obtaining a reference coordinate system attitude matrix and a deformation coordinate system attitude matrix through each inertial navigation device arranged on the bow and stern line of the hull, and obtaining a conversion attitude matrix according to the reference coordinate system attitude matrix and the deformation coordinate system attitude matrix; calculating each axial deformation variable of the reference coordinate system corresponding to each inertial navigation device arrangement point according to the conversion attitude matrix, and calculating the coefficient matrix of the deformation variable parameter model according to each axial deformation variable of the reference coordinate system corresponding to each inertial navigation device arrangement point; calculating each axial deformation variable of the reference coordinate system corresponding to the target position point on the bow and stern line of the hull according to the coefficient matrix of the deformation variable parameter model. The scheme of this embodiment can realize the measurement of deformation at any position of the hull, and can improve the accuracy of hull deformation measurement.

Description

Technical Field

[0001] The present invention relates to the field of ship technology, and in particular to a method, equipment, medium and program product for measuring hull deformation. Background Art

[0002] In situations where high-precision attitude measurement is required, the hull shape variables cannot be ignored. The measurement and prediction of hull shape variables has always been a difficult problem to solve in the field of high-precision attitude measurement.

[0003] At present, the existing methods for measuring hull deformation mainly include photoelectric measurement and hull deformation measurement based on angular velocity matching. However, the photoelectric measurement method is sensitive to environmental factors and is easily affected by the environment, resulting in poor measurement accuracy. The measurement accuracy of the hull deformation measurement method based on angular velocity matching is affected by the filtering algorithm, which easily leads to large measurement errors. Summary of the invention

[0004] The present invention provides a method, device, medium and program product for measuring hull deformation, which can realize the measurement of deformation at any position of the hull and improve the accuracy of hull deformation measurement.

[0005] According to one aspect of the present invention, a method for measuring hull deformation is provided, comprising:

[0006] Obtaining a reference coordinate system attitude matrix and a deformation coordinate system attitude matrix through each inertial navigation device arranged on the bow and stern line of the hull, and obtaining a conversion attitude matrix according to the reference coordinate system attitude matrix and the deformation coordinate system attitude matrix;

[0007] According to the conversion attitude matrix, each axial deformation amount of the reference coordinate system corresponding to each inertial navigation device arrangement point is calculated, and according to each axial deformation amount of the reference coordinate system corresponding to each inertial navigation device arrangement point, a coefficient matrix of the deformation amount parameter model is calculated;

[0008] According to the coefficient matrix of the deformation variable parameter model, each axial deformation variable of the reference coordinate system corresponding to the target position point on the bow and stern line of the hull is calculated.

[0009] According to another aspect of the present invention, there is provided a device for measuring hull deformation, comprising:

[0010] A conversion attitude matrix acquisition module is used to acquire a reference coordinate system attitude matrix and a deformation coordinate system attitude matrix through each inertial navigation device arranged on the bow and stern line of the hull, and acquire a conversion attitude matrix according to the reference coordinate system attitude matrix and the deformation coordinate system attitude matrix;

[0011] A coefficient matrix calculation module, used to calculate the axial deformation variables of the reference coordinate system corresponding to each inertial navigation device arrangement point according to the conversion attitude matrix, and calculate the coefficient matrix of the deformation variable parameter model according to the axial deformation variables of the reference coordinate system corresponding to each inertial navigation device arrangement point;

[0012] The deformation variable calculation module is used to calculate the axial deformation variables of the reference coordinate system corresponding to the target position point on the bow and stern line of the hull according to the coefficient matrix of the deformation variable parameter model.

[0013] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for measuring hull deformation described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, wherein the computer program is used to enable a processor to implement the method for measuring hull deformation according to any embodiment of the present invention when executed.

[0018] According to another aspect of the present invention, there is provided a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for measuring hull deformation according to any one of the embodiments of the present invention is implemented.

[0019] The technical solution of the embodiment of the present invention is to obtain the reference coordinate system attitude matrix and the deformation coordinate system attitude matrix through each inertial navigation device arranged on the bow and stern line of the hull, and obtain the conversion attitude matrix according to the reference coordinate system attitude matrix and the deformation coordinate system attitude matrix; according to the conversion attitude matrix, calculate the axial deformation variables of the reference coordinate system corresponding to each inertial navigation device arrangement point, and according to the axial deformation variables of the reference coordinate system corresponding to each inertial navigation device arrangement point, calculate the coefficient matrix of the deformation variable parameter model; according to the coefficient matrix of the deformation variable parameter model, calculate the axial deformation variables of the reference coordinate system corresponding to the target position point on the bow and stern line of the hull; obtain the deformation variable of each inertial navigation device arrangement point by measuring the pre-deployed inertial navigation device, and perform extrapolation prediction of deformation measurement based on the deformation variable of each inertial navigation device arrangement point, so as to realize the measurement of deformation at any position of the hull and improve the accuracy of hull deformation measurement.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 is a flow chart of a method for measuring hull deformation according to Embodiment 1 of the present invention;

[0023] Figure 2 is a schematic structural diagram of a hull deformation measuring device provided according to Embodiment 2 of the present invention;

[0024] Figure 3 It is a schematic diagram of the structure of an electronic device for implementing the method for measuring hull deformation according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", "target", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment 1

[0028] Figure 1A flow chart of a method for measuring hull deformation is provided for the first embodiment of the present invention. This embodiment is applicable to the case of measuring hull deformation. The method can be performed by a hull deformation measuring device. The hull deformation measuring device can be implemented in the form of hardware and / or software. Typically, the hull deformation measuring device can be configured in an electronic device, such as a computer device or a server. Figure 1 As shown, the method includes:

[0029] S110, acquiring a reference coordinate system attitude matrix and a deformation coordinate system attitude matrix through each inertial navigation device arranged on the bow and stern line of the hull, and acquiring a conversion attitude matrix according to the reference coordinate system attitude matrix and the deformation coordinate system attitude matrix.

[0030] The inertial navigation device is arranged along the bow and stern line of the hull, for example, it can be an inertial measurement unit, etc. Typically, the number of the inertial navigation devices can be greater than or equal to four.

[0031] In this embodiment, first, based on the inertial navigation device, the reference coordinate system attitude reference output attitude matrix (i.e., the reference coordinate system attitude matrix) and the deformation coordinate system attitude reference output attitude matrix (i.e., the deformation coordinate system attitude matrix) can be determined; then, the attitude matrix of the deformation coordinate system relative to the reference coordinate system, i.e., the transformation attitude matrix, can be calculated.

[0032] Optionally, acquiring a transformation posture matrix according to the reference coordinate system posture matrix and the deformation coordinate system posture matrix may include:

[0033] The transposed matrix corresponding to the reference coordinate system posture matrix is ​​obtained, and the product of the transposed matrix and the deformed coordinate system posture matrix is ​​calculated to obtain the transformed posture matrix.

[0034] In a specific example, assume that the reference coordinate system pose matrix is , the deformation coordinate system posture matrix is , can be based on the formula Calculate the transformation attitude matrix .

[0035] S120. Calculate the axial deformation variables of the reference coordinate system corresponding to each inertial navigation device arrangement point according to the conversion attitude matrix, and calculate the coefficient matrix of the deformation variable parameter model according to the axial deformation variables of the reference coordinate system corresponding to each inertial navigation device arrangement point.

[0036] It is assumed that the deformation variables on the three axes (x, y and z) around the reference coordinate system are respectively , horizontal twist and longitudinal Since the deformation variables can be regarded as small quantities, the deformation variables in the three axes of x, y and z can be equivalent to the deformation coordinate system Relative to the reference coordinate system The equivalent rotation vector of . Assuming the deformation variable vector is B, we have , since the deformation variables can be regarded as small quantities, the transformation matrix of the deformation coordinate system relative to the reference coordinate system is It can be expressed as . Where (B×) is the antisymmetric matrix of B, .

[0037] Therefore, after obtaining the transformation posture matrix, the transformation posture matrix can be substituted into the formula , to calculate the bow , horizontal twist and longitudinal , that is, the axial deformation of the reference coordinate system. 3×3 Represents the preset identity matrix with 3 rows and 3 columns.

[0038] Optionally, calculating, according to the conversion attitude matrix, each axial deformation amount of the reference coordinate system corresponding to each inertial navigation device arrangement point may include:

[0039] An intermediate matrix is ​​calculated by subtracting a preset unit matrix from the conversion attitude matrix, and each axial deformation amount of the reference coordinate system corresponding to each inertial navigation device arrangement point is calculated based on the intermediate matrix.

[0040] In a specific example, the formula and It can be deduced that . Assume that the intermediate matrix , and each element in the matrix is , we can get , , . Thus, the axial deformation variables of the reference coordinate system can be calculated.

[0041] In this embodiment, a tangible variable mathematical model and a tangible variable parameter model can be pre-established through mathematical modeling. Among them, the tangible variable mathematical model can be a mathematical model of the tangible variable of each point on the bow and stern line of the hull relative to the reference inertial navigation arrangement point, and its independent variable is the distance of a certain point on the bow and stern line of the hull from the reference inertial navigation arrangement point, and the dependent variable is the relative tangible variable of each axial direction of the reference coordinate system. The tangible variable parameter model is a mathematical model of the parameters in the tangible variable mathematical model, and the independent variables are the various influencing factors of the parameters, and the dependent variable is the parameter value. In the tangible variable parameter model, each influencing factor has a corresponding coefficient, and all coefficients can form a coefficient matrix of the tangible variable parameter model.

[0042] Therefore, after obtaining the axial deformation variables of the reference coordinate system corresponding to the current inertial navigation device layout point, the relative deformation variables corresponding to each axial direction can be calculated based on the axial deformation variables of the current inertial navigation device layout point and the axial deformation variables of the reference inertial navigation layout point. For example, the x-axis deformation variable of the current inertial navigation device layout point M is subtracted from the x-axis deformation variable of the reference inertial navigation layout point N to obtain the x-axis relative deformation variable corresponding to M. Then, the numerical value corresponding to each influencing factor in the deformation variable parameter model can be collected, and based on the deformation variable mathematical model and the deformation variable parameter model, the coefficient matrix of the deformation variable parameter model can be calculated based on the relative deformation variables corresponding to each axial direction and the numerical value corresponding to each influencing factor.

[0043] Optionally, the coefficient matrix of the deformation variable parameter model is calculated according to each axial deformation variable of the reference coordinate system corresponding to each inertial navigation device arrangement point, which may include:

[0044] Based on the deformation variable mathematical model, according to each axial deformation variable of the reference coordinate system corresponding to each inertial navigation device arrangement point, and the distance between each inertial navigation device arrangement point and the reference inertial navigation arrangement point, a parameter matrix of the deformation variable mathematical model is calculated;

[0045] Based on the shape variable parameter model, according to the parameter matrix of the shape variable mathematical model, the coefficient matrix of the shape variable parameter model is calculated.

[0046] In this embodiment, the distribution of the hull deformation on the bow and stern line can be approximately fitted using a quadratic function. Assuming that the distance between a point on the bow and stern line of the hull and the reference inertial navigation arrangement point is s, and is positive along the bow direction, if an inertial navigation device is installed at this point, the mathematical model of the deformation relative to the reference inertial navigation arrangement point measured by the device can be expressed as:

[0047] .

[0048] set up , , and They represent the relative deformations corresponding to the x, y and z axes respectively. The matrix form of the mathematical model of the deformation at each moment can be expressed as D = A·S, where the parameter matrix , Since the deformation variable can be regarded as a small quantity, the relative deformation variables between other points can be obtained by subtracting the deformation variables of the relative reference inertial navigation arrangement points.

[0049] In this embodiment, after the parameter matrix is ​​calculated, the variable values ​​corresponding to the respective variables in the shape variable parameter model can be collected, and the parameter matrix and the variable values ​​corresponding to the respective variables can be substituted into the shape variable parameter model to calculate the coefficient matrix of the shape variable parameter model.

[0050] Optionally, based on the shape variable parameter model, according to the parameter matrix of the shape variable mathematical model, calculating the coefficient matrix of the shape variable parameter model may include:

[0051] Obtaining variable values ​​corresponding to respective variables in the shape variable parameter model, and obtaining an independent variable matrix according to the variable values ​​corresponding to the respective variables;

[0052] The coefficient matrix of the shape variable parameter model is calculated based on the parameter matrix of the shape variable mathematical model and the independent variable matrix.

[0053] The independent variables may include hull temperature, temperature change rate and / or hull attitude. It is understandable that the number and type of independent variables may be adaptively adjusted according to actual scenarios.

[0054] It is understandable that the mathematical model of hull deformation changes slowly over time, and the slowly changing deformation variables show strong regularity. However, the mathematical model of hull deformation varies from ship to ship. The corresponding mathematical model can only be obtained after a certain amount of data accumulation, and the mathematical model needs to be corrected in real time to ensure its adaptability to the actual situation. According to the above analysis and summary, it is possible to establish mathematical models of various parameters of the mathematical model of deformation variables based on a large amount of deformation measurement data, with the influencing factors such as hull temperature, temperature change rate, hull posture, etc. as independent variables, i.e., the mathematical model of deformation variable parameters.

[0055] For example, with parameter a k0 For example, its mathematical model can be expressed as:

[0056] .

[0057] Where T is the hull temperature, dT / dt is the temperature change rate, and Represents the hull posture. The quadratic polynomial of the shape variable mathematical model parameters with the independent variable is written in matrix form as X=FE, where E represents the independent variable matrix and F represents the coefficient matrix.

[0058] ,

[0059] , .

[0060] Specifically, first, the matrix X can be generated according to the values ​​of each element in the parameter matrix A; then, the matrix X and the independent variable matrix E can be substituted into the formula X=FE to calculate the coefficient matrix F of the shape variable parameter model.

[0061] It should be noted that as the ship moves over time, under the effects of sun exposure, night dew and time aging, the mathematical model parameters of the hull deformation will gradually change, and thus need to be continuously updated to meet the measurement requirements of the hull deformation. In this embodiment, the mathematical model fitting algorithm of the deformation variable can be written in the test calibration subsystem in the form of software, and the mathematical model parameters of the deformation variable are regularly updated to achieve the purpose of tracking and predicting the hull deformation.

[0062] S130. Calculate, according to the coefficient matrix of the deformation variable parameter model, the axial deformation variables of the reference coordinate system corresponding to the target position point on the bow and stern line of the hull.

[0063] In this embodiment, after obtaining the coefficient matrix of the deformation variable parameter model, the deformation measurement can be extrapolated based on the coefficient matrix on the basis of the deformation variable parameter model and the deformation variable mathematical model to predict the deformation of any point on the bow and stern line of the hull relative to the reference inertial navigation arrangement point. Specifically, based on the deformation variable parameter model, the parameter matrix of the deformation variable mathematical model can be obtained according to the coefficient matrix; then, based on the deformation variable mathematical model, the axial deformation of the reference coordinate system corresponding to the target position point can be calculated according to the parameter matrix and the distance between the target position point and the reference inertial navigation arrangement point.

[0064] Optionally, calculating the axial deformation variables of the reference coordinate system corresponding to the target position point on the bow and stern line of the hull according to the coefficient matrix of the deformation variable parameter model may include:

[0065] Obtaining the distance between the target position point and the reference inertial navigation arrangement point;

[0066] The axial deformation variables of the reference coordinate system corresponding to the target position point are calculated according to the distance between the target position point and the reference inertial navigation arrangement point and the coefficient matrix of the deformation variable parameter model.

[0067] In a specific example, the distance between the target position point and the reference inertial navigation arrangement point is s1. The coefficient matrix F can be substituted into the formula X=FE to calculate the matrix X, and the parameter matrix A can be generated according to the values ​​of each element in the matrix X. Then, the parameter matrix A and s1 can be substituted into the formula D=A·S to calculate the relative deformation corresponding to each axis. , and Finally, the axial deformation variables of the reference coordinate system corresponding to the target position point can be calculated based on the axial deformation variables corresponding to the reference inertial navigation layout point and the relative deformation variable corresponding to each axial direction.

[0068] In this embodiment, the method for measuring the distance between two points may not be specifically limited.

[0069] The technical solution of the embodiment of the present invention is to obtain the reference coordinate system attitude matrix and the deformation coordinate system attitude matrix through each inertial navigation device arranged on the bow and stern line of the hull, and obtain the conversion attitude matrix according to the reference coordinate system attitude matrix and the deformation coordinate system attitude matrix; according to the conversion attitude matrix, calculate the axial deformation variables of the reference coordinate system corresponding to each inertial navigation device arrangement point, and according to the axial deformation variables of the reference coordinate system corresponding to each inertial navigation device arrangement point, calculate the coefficient matrix of the deformation variable parameter model; according to the coefficient matrix of the deformation variable parameter model, calculate the axial deformation variables of the reference coordinate system corresponding to the target position point on the bow and stern line of the hull; obtain the deformation variable of each inertial navigation device arrangement point by measuring the pre-deployed inertial navigation device, and perform extrapolation prediction of deformation measurement based on the deformation variable of each inertial navigation device arrangement point, so as to realize the measurement of deformation at any position of the hull and improve the accuracy of hull deformation measurement.

[0070] Embodiment 2

[0071] Figure 2 This is a schematic diagram of the structure of a ship hull deformation measurement device provided in the second embodiment of the present invention. Figure 2 As shown, the device includes: a conversion posture matrix acquisition module 210, a coefficient matrix calculation module 220 and a shape variable calculation module 230; wherein,

[0072] The conversion attitude matrix acquisition module 210 is used to acquire the reference coordinate system attitude matrix and the deformation coordinate system attitude matrix through each inertial navigation device arranged on the bow and stern line of the hull, and acquire the conversion attitude matrix according to the reference coordinate system attitude matrix and the deformation coordinate system attitude matrix;

[0073] The coefficient matrix calculation module 220 is used to calculate the axial deformation variables of the reference coordinate system corresponding to each inertial navigation device arrangement point according to the conversion attitude matrix, and calculate the coefficient matrix of the deformation variable parameter model according to the axial deformation variables of the reference coordinate system corresponding to each inertial navigation device arrangement point;

[0074] The deformation variable calculation module 230 is used to calculate the axial deformation variables of the reference coordinate system corresponding to the target position point on the bow and stern line of the hull according to the coefficient matrix of the deformation variable parameter model.

[0075] The technical solution of the embodiment of the present invention is to obtain the reference coordinate system attitude matrix and the deformation coordinate system attitude matrix through each inertial navigation device arranged on the bow and stern line of the hull, and obtain the conversion attitude matrix according to the reference coordinate system attitude matrix and the deformation coordinate system attitude matrix; according to the conversion attitude matrix, calculate the axial deformation variables of the reference coordinate system corresponding to each inertial navigation device arrangement point, and according to the axial deformation variables of the reference coordinate system corresponding to each inertial navigation device arrangement point, calculate the coefficient matrix of the deformation variable parameter model; according to the coefficient matrix of the deformation variable parameter model, calculate the axial deformation variables of the reference coordinate system corresponding to the target position point on the bow and stern line of the hull; obtain the deformation variable of each inertial navigation device arrangement point by measuring the pre-deployed inertial navigation device, and perform extrapolation prediction of deformation measurement based on the deformation variable of each inertial navigation device arrangement point, so as to realize the measurement of deformation at any position of the hull and improve the accuracy of hull deformation measurement.

[0076] Optionally, the conversion posture matrix acquisition module 210 is specifically used to obtain the transposed matrix corresponding to the reference coordinate system posture matrix, and calculate the product of the transposed matrix and the deformation coordinate system posture matrix to obtain the conversion posture matrix.

[0077] Optionally, the coefficient matrix calculation module 220 is specifically used to calculate an intermediate matrix by subtracting a preset unit matrix from the conversion attitude matrix, and calculate each axial deformation of the reference coordinate system corresponding to each inertial navigation device layout point based on the intermediate matrix.

[0078] Optionally, the coefficient matrix calculation module 220 is specifically used to calculate the parameter matrix of the deformation variable mathematical model based on the deformation variable mathematical model according to each axial deformation variable of the reference coordinate system corresponding to each inertial navigation device layout point, and the distance between each inertial navigation device layout point and the reference inertial navigation layout point;

[0079] Based on the shape variable parameter model, according to the parameter matrix of the shape variable mathematical model, the coefficient matrix of the shape variable parameter model is calculated.

[0080] Optionally, the coefficient matrix calculation module 220 is specifically used to obtain the variable values ​​corresponding to the respective variables in the shape variable parameter model, and obtain the independent variable matrix according to the variable values ​​corresponding to the respective variables;

[0081] The coefficient matrix of the shape variable parameter model is calculated based on the parameter matrix of the shape variable mathematical model and the independent variable matrix.

[0082] Optionally, the independent variables include hull temperature, rate of temperature change and / or hull attitude.

[0083] Optionally, the deformation calculation module 230 is specifically used to obtain the distance between the target position point and the reference inertial navigation arrangement point;

[0084] The axial deformation variables of the reference coordinate system corresponding to the target position point are calculated according to the distance between the target position point and the reference inertial navigation arrangement point and the coefficient matrix of the deformation variable parameter model.

[0085] The device for measuring hull deformation provided in the embodiment of the present invention can execute the method for measuring hull deformation provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0086] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0087] Embodiment 3

[0088] Figure 3 A schematic diagram of the structure of an electronic device 30 that can be used to implement an embodiment of the present invention is shown. The electronic device 30 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 30 can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0089] like Figure 3 As shown, the electronic device 30 includes at least one processor 31, and a memory connected to the at least one processor 31, such as a read-only memory (ROM) 32, a random access memory (RAM) 33, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 31 can perform various appropriate actions and processes according to the computer program stored in the read-only memory 32 or the computer program loaded from the storage unit 38 to the random access memory 33. In the RAM 33, various programs and data required for the operation of the electronic device 30 can also be stored. The processor 31, the ROM 32 and the RAM 33 are connected to each other through a bus 34. The input / output (I / O) interface 35 is also connected to the bus 34.

[0090] A number of components in the electronic device 30 are connected to the I / O interface 35, including: an input unit 36, such as a keyboard, a mouse, etc.; an output unit 37, such as various types of displays, speakers, etc.; a storage unit 38, such as a disk, an optical disk, etc.; and a communication unit 39, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 39 allows the electronic device 30 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0091] The processor 31 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 31 include, but are not limited to, a central processing unit, a graphics processing unit, various dedicated artificial intelligence computing chips, various processors running machine learning model algorithms, digital signal processors, and any appropriate processors, controllers, microcontrollers, etc. The processor 31 executes the various methods and processes described above, such as a method for measuring hull deformation.

[0092] In some embodiments, the method for measuring hull deformation may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 38. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 30 via the ROM 32 and / or the communication unit 39. When the computer program is loaded into the RAM 33 and executed by the processor 31, one or more steps of the method for measuring hull deformation described above may be performed. Alternatively, in other embodiments, the processor 31 may be configured to execute the method for measuring hull deformation in any other appropriate manner (e.g., by means of firmware).

[0093] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays, application specific integrated circuits, application specific standard products, systems on a chip, load programmable logic devices, computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0094] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0095] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0096] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device 30 having: a display device (e.g., a cathode ray tube or a liquid crystal display) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device 30. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0097] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area networks, wide area networks, blockchain networks, and the Internet.

[0098] A computing system may include clients and servers. Clients and servers are generally remote from each other and typically interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship to each other. The server may be a cloud server.

[0099] This embodiment may also include a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the method for measuring hull deformation provided by any embodiment of the present invention.

[0100] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0101] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for measuring hull deformation, characterized in that: include: Obtaining a reference coordinate system attitude matrix and a deformation coordinate system attitude matrix through each inertial navigation device arranged on the bow and stern line of the hull, and obtaining a conversion attitude matrix according to the reference coordinate system attitude matrix and the deformation coordinate system attitude matrix; According to the conversion attitude matrix, each axial deformation amount of the reference coordinate system corresponding to each inertial navigation device arrangement point is calculated, and based on the deformation amount mathematical model, according to each axial deformation amount of the reference coordinate system corresponding to each inertial navigation device arrangement point, and the distance between each inertial navigation device arrangement point and the reference inertial navigation arrangement point, a parameter matrix of the deformation amount mathematical model is calculated; Obtain variable values ​​corresponding to respective variables in the shape variable parameter model, and obtain an independent variable matrix according to the variable values ​​corresponding to the respective variables; Calculating a coefficient matrix of the shape variable parameter model according to the parameter matrix of the shape variable mathematical model and the independent variable matrix; Obtain the distance between the target position point on the bow and stern line of the hull and the reference inertial navigation arrangement point; The axial deformation variables of the reference coordinate system corresponding to the target position point are calculated according to the distance between the target position point and the reference inertial navigation arrangement point and the coefficient matrix of the deformation variable parameter model.

2. The method according to claim 1, characterized in that Acquiring a conversion posture matrix according to the reference coordinate system posture matrix and the deformation coordinate system posture matrix, including: The transposed matrix corresponding to the reference coordinate system posture matrix is ​​obtained, and the product of the transposed matrix and the deformed coordinate system posture matrix is ​​calculated to obtain the transformed posture matrix.

3. The method according to claim 1, characterized in that According to the conversion attitude matrix, the axial deformations of the reference coordinate system corresponding to each inertial navigation device arrangement point are calculated, including: An intermediate matrix is ​​calculated by subtracting a preset unit matrix from the conversion attitude matrix, and each axial deformation amount of the reference coordinate system corresponding to each inertial navigation device arrangement point is calculated based on the intermediate matrix.

4. The method according to claim 1, characterized in that: Independent variables include hull temperature, rate of temperature change, and / or hull attitude.

5. An electronic device, characterized in that: The electronic device comprises: at least one processor, and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the method for measuring hull deformation according to any one of claims 1-4.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is used to enable a processor to implement the method for measuring hull deformation according to any one of claims 1 to 4 when executed.

7. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method for measuring the hull deformation according to any one of claims 1 to 4.

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