A dynamic source selection and selection method for multi-sensor information on ships

Abstract

The present invention relates to the field of information transmission technology, and in particular to a method for dynamic source selection and selection of multi-sensor information for ships, comprising the following steps: judging whether a management layer device is in a power-on state or a power-off state, a distribution layer device judging whether a priority dedicated channel is in a normal state or an abnormal state, and a distribution layer device judging whether a network channel is in a normal state or an abnormal state; when the priority dedicated channel is in an abnormal state, comparing the accuracy of data transmitted by the priority dedicated channel with the accuracy of data transmitted by each secondary dedicated channel, when the accuracy of data transmitted by the priority dedicated channel is greater than the accuracy of data transmitted by each secondary dedicated channel, the distribution layer device sends the data of the priority dedicated channel; when the accuracy of data transmitted by the priority dedicated channel is less than the accuracy of data transmitted by any secondary dedicated channel, the distribution layer device sends the data with the highest accuracy among all secondary dedicated channels. The present invention improves the accuracy of data transmission.

Description

Technical Field

[0001] The invention relates to the technical field of information transmission, and in particular to a dynamic source selection and selection method for multi-sensor information for ships. Background Art

[0002] The functions and forms of ship navigation sensor equipment are increasing day by day. There are situations where a certain type of information is configured with multiple types of sensors. The information transmission channels of different sensors are also different. The navigation equipment information adopts a centralized management and unified distribution mode. The navigation equipment is divided into perception layer equipment, management layer equipment and distribution layer equipment. The distribution layer equipment receives the sensor source selection information sent by the management layer equipment to complete the unified transmission of the sensor information of the whole ship. The disadvantage of this information transmission is that the information receiving channel and receiving frequency of the information distribution layer equipment are not exactly the same as those of the management layer equipment, and the source selection instruction sent by the management layer equipment may not be applicable to the current state. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a method for dynamically selecting and sourcing information of a multi-sensor for a ship, which solves the problem of information transmission errors caused by source selection instructions of management layer equipment and improves the accuracy of information transmission.

[0004] The present invention provides a method for dynamic source selection and selection of multi-sensor information for a ship. A navigation system is connected to a terminal. The navigation system includes a management layer device, a perception layer device and a distribution layer device, and includes the following steps:

[0005] Construct several dedicated channels, the dedicated channels are used to connect each sensor in the perception layer device with the distribution layer device, and the management layer device, the perception layer device, the navigation system network and the distribution layer device exchange information through the network channel. The dedicated channel of the sensor with the highest accuracy is defined as the priority dedicated channel, and the dedicated channels of other sensors are defined as secondary dedicated channels;

[0006] Determine whether the management layer device is in the power-on state or the power-off state, the distribution layer device determines whether the priority dedicated channel is in the normal state or the abnormal state, and the distribution layer device determines whether the network channel is in the normal state or the abnormal state;

[0007] S1, when the priority dedicated channel is in an abnormal state, compare the accuracy of the data transmitted by the priority dedicated channel with the data transmitted by each of the secondary dedicated channels. When the accuracy of the data transmitted by the priority dedicated channel is greater than the accuracy of the data transmitted by each of the secondary dedicated channels, the distribution layer device sends the data of the priority dedicated channel; when the accuracy of the data transmitted by the priority dedicated channel is less than the accuracy of the data transmitted by any of the secondary dedicated channels, the distribution layer device sends the data with the highest accuracy among all the secondary dedicated channels;

[0008] S2, when the priority dedicated channel is in a normal state, when the management layer device is powered on and the network channel is in a normal state, the management layer device issues a Zeyuan instruction, and the distribution layer device receives the Zeyuan instruction and sends the sensor data received by the corresponding dedicated channel;

[0009] S3, when the dedicated channel is in a normal state, when the management layer device is powered on and the network channel is in an abnormal state, the management layer device issues a Zeyuan instruction to determine whether the distribution layer device can receive the Zeyuan instruction;

[0010] S31, when the distribution layer device can receive the Zeyuan instruction, the distribution layer device sends the sensor data received by the corresponding dedicated channel;

[0011] S32, when the distribution layer device does not receive the Zeyuan instruction, the distribution layer device sends the data of the priority dedicated channel.

[0012] The further improvement of the method for dynamic source selection and selection of multi-sensor information for ships of the present invention is that:

[0013] The condition for judging whether the priority dedicated channel or the network channel is in a normal state is: ,

[0014] in, The cycle design value for data transmission of the priority dedicated channel or network channel, is the time count value set when the distribution layer device receives data, The time count value set when the distribution layer device last received data, Represents the unit time value, Indicates the time difference between the last data received by the distribution layer device and the current data received. It represents the average of the absolute values ​​of at least 5 time differences. represents the error of the design value of the cycle, Represents the adjustment factor.

[0015] A further improvement of the dynamic source selection and selection method for ship-borne multi-sensor information of the present invention is that the human-computer interaction interface of the management layer device displays the use status of the source instruction of the management layer device, the status of the priority dedicated channel, and the status of the network channel; the human-computer interaction interface also displays the sensor selected when currently transmitting data, the dedicated channel used, the adjustment coefficient, and the data received by the dedicated channel.

[0016] A further improvement of the method for dynamic source selection and selection of multi-sensor information for ships of the present invention is that P≥1, and the adjustment coefficient can be adjusted through the human-computer interaction interface.

[0017] A further improvement of the method for dynamic source selection and selection of multi-sensor information for ships of the present invention is that when comparing the accuracy of the data transmitted by the priority dedicated channel with the accuracy of the data transmitted by the secondary dedicated channel, the method comprises the following steps:

[0018] Calculate the difference between the current moment data and the next moment data transmitted by the priority dedicated channel, ,in, Indicates the current time data transmitted via the priority dedicated channel. Indicates the next moment data transmitted by the priority dedicated channel estimated according to the optimal state of the ship, express and The difference, Express The most influential factor, is the first coefficient, is the inherent error of the sensor per unit time corresponding to the priority dedicated channel, Indicates the accuracy of data transmitted on the priority dedicated channel;

[0019] Calculate the difference between the current moment data and the next moment data transmitted by the secondary dedicated channel, ,in, Indicates the current time data transmitted by the secondary dedicated channel, Indicates the data of the next moment transmitted by the secondary dedicated channel estimated according to the optimal state of the ship, express and The difference, Express The most influential factor, is the second coefficient, is the inherent error of the sensor corresponding to the secondary dedicated channel per unit time;

[0020] Then calculate ,in, represents the difference between the current time data transmitted by the priority dedicated channel and the current time data transmitted by the secondary dedicated channel, Indicates the accuracy of the data transmitted by the secondary dedicated channel, and then compares and size;

[0021] when Both greater than When the distribution layer device sends the data of the priority dedicated channel;

[0022] When any one Less than When , the distribution layer device sends the data with the highest accuracy among all the secondary dedicated channels.

[0023] A further improvement of the method for dynamic source selection and selection of multi-sensor information for ships of the present invention is that the minimum After the corresponding secondary dedicated channel, it also includes:

[0024] Estimate the next data transmitted through the priority dedicated channel according to the current status of the ship ,Will As a window, determine the minimum The corresponding secondary dedicated channel ;

[0025] Compare and The size of When it is larger, the distribution layer device sends the minimum The distribution layer device sends the data of the corresponding secondary dedicated channel; otherwise, the distribution layer device sends the data of the priority dedicated channel.

[0026] A further improvement of the method for dynamic source selection and selection of multi-sensor information for ships of the present invention is that, before step S1, it also includes:

[0027] The distribution layer device determines the manual selection situation as the highest priority. When it is a manual selection situation, the distribution layer device outputs the data of the corresponding dedicated channel according to the manual selection situation.

[0028] The method for dynamic source selection and selection of marine multi-sensor information of the present invention can complete the optimal selection of the data source regardless of whether the distribution layer device receives the source selection instruction of the management layer device. At the same time, the application reduces the number of switching times and ensures stable information output by selecting the appropriate switching time of the data.

[0029] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 It is a schematic diagram of the navigation system.

[0032] Figure 2 It is a schematic diagram of a dynamic source selection and selection method in an embodiment. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0034] Combine the following Figure 1 The present invention describes a method for dynamically selecting a source and selecting a multi-sensor information for a ship. The navigation system is connected to a terminal. The navigation system includes a management layer device, a perception layer device, and a distribution layer device, and includes the following steps:

[0035] Construct several dedicated channels, the dedicated channels are used to connect each sensor in the perception layer device with the distribution layer device, and the management layer device, the perception layer device, the navigation system network and the distribution layer device exchange information through the network channel. The dedicated channel of the sensor with the highest accuracy is defined as the priority dedicated channel, and the dedicated channels of other sensors are defined as secondary dedicated channels;

[0036] Determine whether the management layer device is in the power-on state or the power-off state, the distribution layer device determines whether the priority dedicated channel is in the normal state or the abnormal state, and the distribution layer device determines whether the network channel is in the normal state or the abnormal state;

[0037] S1, when the priority dedicated channel is in an abnormal state, compare the accuracy of the data transmitted by the priority dedicated channel with the data transmitted by each of the secondary dedicated channels. When the accuracy of the data transmitted by the priority dedicated channel is greater than the accuracy of the data transmitted by each of the secondary dedicated channels, the distribution layer device sends the data of the priority dedicated channel; when the accuracy of the data transmitted by the priority dedicated channel is less than the accuracy of the data transmitted by any of the secondary dedicated channels, the distribution layer device sends the data with the highest accuracy among all the secondary dedicated channels;

[0038] S2, when the priority dedicated channel is in a normal state, when the management layer device is powered on and the network channel is in a normal state, the management layer device issues a Zeyuan instruction, and the distribution layer device receives the Zeyuan instruction and sends the sensor data received by the corresponding dedicated channel;

[0039] S3, when the dedicated channel is in a normal state, when the management layer device is powered on and the network channel is in an abnormal state, the management layer device issues a Zeyuan instruction to determine whether the distribution layer device can receive the Zeyuan instruction;

[0040] S31, when the distribution layer device can receive the Zeyuan instruction, the distribution layer device sends the sensor data received by the corresponding dedicated channel;

[0041] S32, when the distribution layer device does not receive the Zeyuan instruction, the distribution layer device sends the data of the priority dedicated channel.

[0042] A preferred implementation case of the method for dynamic source selection and selection of multi-sensor information for ships of the present invention includes:

[0043] The condition for judging whether the priority dedicated channel or the network channel is in a normal state is: ,

[0044] in, The cycle design value for data transmission of the priority dedicated channel or network channel, is the time count value set when the distribution layer device receives data, The time count value set when the distribution layer device last received data, Represents the unit time value, Indicates the time difference between the last data received by the distribution layer device and the current data received. It represents the average of the absolute values ​​of at least 5 time differences. represents the error of the design value of the cycle, Represents the adjustment factor.

[0045] Preferably, depending on The degree of rigor set and the actual post-shipment interface data transmission and processing strategy, usually , the adjustment coefficient can be adjusted through the human-computer interaction interface. In a specific implementation case, assuming 10ms, 1ms, 0.1ms, The value is 1, then when The normal state is between 90 and 110.

[0046] Preferably, the human-computer interaction interface of the management layer device displays the usage status of the Zeyuan instruction of the management layer device, the status of the priority dedicated channel, and the status of the network channel; the human-computer interaction interface also displays the sensor selected when currently transmitting data, the dedicated channel used, the adjustment coefficient, and the data received by the dedicated channel.

[0047] Preferably, if Figure 1 As shown, the several dedicated channels are dedicated channel 1, dedicated channel 2, ..., dedicated channel N, and the sensors are sensor A, sensor B, ..., sensor N.

[0048] Preferably, if a source selection instruction is received within three data sending cycles T, it is displayed that the source selection instruction is available, otherwise it is displayed that the source selection instruction is unavailable.

[0049] Furthermore, when comparing the accuracy of the data transmitted by the priority dedicated channel with the accuracy of the data transmitted by the secondary dedicated channel, the following steps are included:

[0050] Calculate the difference between the current moment data and the next moment data transmitted by the priority dedicated channel, ,in, Indicates the current time data transmitted via the priority dedicated channel. Indicates the next moment data transmitted by the priority dedicated channel estimated according to the optimal state of the ship, express and The difference, Express The most influential factor, is the first coefficient, is the inherent error of the sensor per unit time corresponding to the priority dedicated channel, Indicates the accuracy of data transmitted on the priority dedicated channel;

[0051] Calculate the difference between the current moment data and the next moment data transmitted by the secondary dedicated channel, ,in, Indicates the current time data transmitted by the secondary dedicated channel, Indicates the data of the next moment transmitted by the secondary dedicated channel estimated according to the optimal state of the ship, express and The difference, Express The most influential factor, is the second coefficient, is the inherent error generated per unit time by the sensor corresponding to the secondary dedicated channel;

[0052] Then calculate ,in, represents the difference between the current time data transmitted by the priority dedicated channel and the current time data transmitted by the secondary dedicated channel, Indicates the accuracy of the data transmitted by the secondary dedicated channel, and then compares and size;

[0053] when Both greater than When the distribution layer device sends the data of the priority dedicated channel;

[0054] When any one Less than When , the distribution layer device sends the data with the highest accuracy among all the secondary dedicated channels.

[0055] In a specific implementation case, Figure 2 As shown, for example, the current information type is longitude, represents the change in longitude between two moments, Then it is the voyage information, voyage = relative speed × time, calculated according to the maximum speed of the ship, for example 40kn, the data receiving frequency is calculated according to 1s, and the ship's longitude is also affected by factors such as wind speed. Take 1.5, Calculated as 5m, then =1.5×40kn×1s+5m=1.5×40×0.5144m / s×1s+5m=35.864m;

[0056] For example, the current information type is longitude. Then it is the voyage information, voyage = relative speed × time, calculated according to the maximum speed of the ship, for example 40kn, the data receiving frequency is calculated according to 10ms, the ship's longitude is also affected by factors such as wind speed, Take 1.5, Calculated as 15m, then =1.5×40kn×10ms+15m=1.5×40×0.5144m / s×0.01s+15m=15.309m.

[0057] for example Figure 2 The information in the middle is the longitude information. The coordinates of are (0,0), The coordinates are (0,5m), then is 5m, according to the above is 15.309 meters, then Then it is 20.309m< ,After calculation, the corresponding sensor can be used as the sensor of the information source.

[0058] In another specific embodiment, for example Figure 2 The information in the middle is the longitude information. The coordinates of are (0,0), The coordinates are (0,22m), and the data at the next moment transmitted by the secondary dedicated channel estimated according to the optimal state of the ship is marked as , according to the above is 15.309 meters, then Then it is 37.309m> ,After calculation, the corresponding sensor device cannot be used as a sensor of information source.

[0059] because and These are all estimated values ​​based on the optimal state of the ship. It is possible that the actual value of the current ship state at the next moment is less than and Therefore, a constraint window is set to estimate the next data transmitted by the priority dedicated channel based on the current state of the ship. , and calculating the transmission accuracy again can reduce the frequency of information source switching and ensure stable information output.

[0060] Specifically, it also includes:

[0061] Select the smallest After the corresponding secondary dedicated channel, it also includes:

[0062] Estimate the next data transmitted through the priority dedicated channel according to the current status of the ship ,Will As a window, determine the minimum The corresponding secondary dedicated channel ;

[0063] Compare and The size of When it is larger, the distribution layer device sends the minimum The distribution layer device sends the data of the corresponding secondary dedicated channel; otherwise, the distribution layer device sends the data of the priority dedicated channel.

[0064] Furthermore, before step S1, the following steps are also included:

[0065] The distribution layer device determines the manual selection situation as the highest priority. When it is a manual selection situation, the distribution layer device outputs the data of the corresponding dedicated channel according to the manual selection situation.

[0066] The method for dynamic source selection and selection of marine multi-sensor information of the present invention can complete the optimal selection of the data source regardless of whether the distribution layer device receives the source selection instruction of the management layer device. At the same time, the application reduces the number of switching times and ensures stable information output by selecting the appropriate switching time of the data.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for dynamic source selection and selection of multi-sensor information for ships, wherein a navigation system is connected to a terminal, and the navigation system includes a management layer device, a perception layer device, a navigation system network, and a distribution layer device, characterized in that: The steps include: Construct several dedicated channels, the dedicated channels are used to connect each sensor in the perception layer device with the distribution layer device, and the management layer device, the perception layer device, the navigation system network and the distribution layer device exchange information through the network channel. The dedicated channel of the sensor with the highest accuracy is defined as the priority dedicated channel, and the dedicated channels of other sensors are defined as secondary dedicated channels; Determine whether the management layer device is in the power-on state or the power-off state, the distribution layer device determines whether the priority dedicated channel is in the normal state or the abnormal state, and the distribution layer device determines whether the network channel is in the normal state or the abnormal state; S1, when the priority dedicated channel is in an abnormal state, compare the accuracy of the data transmitted by the priority dedicated channel with the data transmitted by each of the secondary dedicated channels. When the accuracy of the data transmitted by the priority dedicated channel is greater than the accuracy of the data transmitted by each of the secondary dedicated channels, the distribution layer device sends the data of the priority dedicated channel; when the accuracy of the data transmitted by the priority dedicated channel is less than the accuracy of the data transmitted by any of the secondary dedicated channels, the distribution layer device sends the data with the highest accuracy among all the secondary dedicated channels; S2, when the priority dedicated channel is in a normal state, when the management layer device is powered on and the network channel is in a normal state, the management layer device issues a Zeyuan instruction, and the distribution layer device receives the Zeyuan instruction and sends the sensor data received by the corresponding dedicated channel; S3, when the dedicated channel is in a normal state, when the management layer device is powered on and the network channel is in an abnormal state, the management layer device issues a Zeyuan instruction to determine whether the distribution layer device can receive the Zeyuan instruction; S31, when the distribution layer device can receive the Zeyuan instruction, the distribution layer device sends the sensor data received by the corresponding dedicated channel; S32, when the distribution layer device does not receive the Zeyuan instruction, the distribution layer device sends the data of the priority dedicated channel; When comparing the accuracy of the data transmitted by the priority dedicated channel with the accuracy of the data transmitted by the secondary dedicated channel, the following steps are included: Calculate the difference between the current moment data and the next moment data transmitted by the priority dedicated channel, ,in, Indicates the current time data transmitted via the priority dedicated channel. Indicates the next moment data transmitted by the priority dedicated channel estimated according to the optimal state of the ship, express and The difference, Express The most influential factor, is the first coefficient, is the inherent error of the sensor per unit time corresponding to the priority dedicated channel, Indicates the accuracy of data transmitted on the priority dedicated channel; Calculate the difference between the current moment data and the next moment data transmitted by the secondary dedicated channel, ,in, Indicates the current time data transmitted by the secondary dedicated channel, Indicates the data of the next moment transmitted by the secondary dedicated channel estimated according to the optimal state of the ship, express and The difference, Express The most influential factor, is the second coefficient, is the inherent error generated per unit time by the sensor corresponding to the secondary dedicated channel; Then calculate ,in, represents the difference between the current time data transmitted by the priority dedicated channel and the current time data transmitted by the secondary dedicated channel, Indicates the accuracy of the data transmitted by the secondary dedicated channel, and then compares and size; when Both greater than When the distribution layer device sends the data of the priority dedicated channel; When any one Less than When The corresponding secondary dedicated channel, the distribution layer device sends the minimum Data of the corresponding secondary dedicated channel.

2. The method for dynamic source selection and selection of multi-sensor information for ships according to claim 1, characterized in that: include: The condition for judging whether the priority dedicated channel or the network channel is in a normal state is: , in, The cycle design value for data transmission of the priority dedicated channel or network channel, is the time count value set when the distribution layer device receives data, The time count value set when the distribution layer device last received data, Represents the unit time value, Indicates the time difference between the last data received by the distribution layer device and the current data received. It represents the average of the absolute values ​​of at least 5 time differences. represents the error of the design value of the cycle, Represents the adjustment factor.

3. The method for dynamic source selection and selection of multi-sensor information for ships according to claim 2, characterized in that: The human-computer interaction interface of the management layer device displays the usage status of the Zeyuan instruction, the status of the priority dedicated channel, and the status of the network channel of the management layer device; the human-computer interaction interface also displays the sensor selected when currently transmitting data, the dedicated channel used, the adjustment coefficient, and the data received by the dedicated channel.

4. The method for dynamic source selection and selection of multi-sensor information for ships according to claim 3, characterized in that: P≥1, the adjustment coefficient can be adjusted through the human-computer interaction interface.

5. The method for dynamic source selection and selection of multi-sensor information for ships according to claim 1, characterized in that: Select the smallest After the corresponding secondary dedicated channel, it also includes: Estimate the next data transmitted through the priority dedicated channel according to the current status of the ship ,Will As a window, determine the minimum The corresponding secondary dedicated channel ; Compare and The size of When it is larger, the distribution layer device sends the minimum The distribution layer device sends the data of the corresponding secondary dedicated channel; otherwise, the distribution layer device sends the data of the priority dedicated channel.

6. The method for dynamic source selection and selection of multi-sensor information for ships according to claim 1, characterized in that: Before step S1, it also includes: The distribution layer device determines the manual selection situation as the highest priority. When it is a manual selection situation, the distribution layer device outputs the data of the corresponding dedicated channel according to the manual selection situation.

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