Ship motion wave inversion method and device based on wave inversion model and medium

Abstract

The invention discloses a ship motion wave inversion method and device based on a wave inversion model and a medium, and relates to the technical field of wave inversion, and the method comprises the steps: obtaining a wave inversion model corresponding to ship physical parameters of a current sailing ship, obtaining corresponding first ship motion response data within a preset time interval at the current navigation speed; calculating an average value of the first ship motion response data in a preset time interval to obtain target ship motion response data; and inputting the current navigation speed and the target ship motion response data into the wave inversion model to obtain a wave spectrum output by the wave inversion model. The method is used for solving the problem that in the prior art, wave parameters of a sea area where a ship is located cannot be efficiently measured, and the purpose of efficiently and accurately measuring waves along with the ship is achieved.

Description

Technical Field

[0001] The present application relates to the field of wave inversion technology, and in particular to a method, device and medium for inverting waves from ship motion based on a wave inversion model. Background Art

[0002] Wave parameters need to be predicted in technical fields such as marine transportation, marine resource development, mineral exploration, offshore deepwater port design, ocean fishing, related marine engineering bonding, and marine military activities. At present, wave parameters are obtained by receiving meteorological fax maps or satellite cloud maps, but the wave parameters obtained by this method correspond to the scale of the entire sea area, and the wave parameters of the sea area where the ship is located cannot be obtained. In addition, the autonomous navigation and autonomous operation of ships require the wave parameters of the sea area to support autonomous decision-making, so as to adapt to the complex and changing marine environment and ensure safety and successful completion of the mission.

[0003] In order to obtain the wave parameters of the sea area where the ship is located, the existing technology uses devices such as buoys, radars and visual systems installed on the ocean to measure the wave parameters. However, due to the fixed installation position, it is impossible to measure on board, or due to the influence of bad weather at sea, it is impossible to measure the wave parameters with high accuracy. Summary of the invention

[0004] In response to the above-mentioned problems and technical needs, the applicant has proposed a ship motion wave inversion method, equipment and medium based on a wave inversion model to solve the problem that the existing technology cannot efficiently measure the wave parameters of the sea area where the ship is located, and to achieve the purpose of efficient and accurate onboard wave measurement.

[0005] The embodiment of the application provides a method for inverting waves by ship motion based on a wave inversion model, the method comprising:

[0006] Acquire a wave inversion model corresponding to the ship physical parameters of the current sailing ship, and first ship motion response data corresponding to a preset time interval at the current sailing speed, wherein the ship physical parameters include: ship type and ship width and ship height corresponding to the ship type, the wave inversion model is pre-trained based on sailing speed samples, ship motion response data samples corresponding to the ship physical parameters and the sailing speed samples, and wave spectrum samples, and the first ship motion response data is obtained based on a data collector installed on the ship;

[0007] Calculating an average value of the first ship motion response data within the preset time interval to obtain target ship motion response data;

[0008] The current sailing speed and the target ship motion response data are input into the wave inversion model to obtain a wave spectrum output by the wave inversion model.

[0009] According to the ship motion inversion wave method based on the wave inversion model provided in an embodiment of the present application, after the current sailing speed and the target ship motion response data are input into the wave inversion model and the wave spectrum output by the wave inversion model is obtained, the method further includes:

[0010] Obtaining the main wave direction corresponding to the current sailing ship, and extracting the main wave frequency from the wave spectrum based on the main wave direction;

[0011] Calculating the second ship motion response data under the regular wave excitation corresponding to the main wave frequency;

[0012] subtracting the second ship motion response data from the target ship motion response data to obtain third ship motion response data;

[0013] The current sailing speed and the third ship motion response data are input into the wave inversion model to obtain a target wave spectrum output by the wave inversion model.

[0014] According to the ship motion inversion wave method based on the wave inversion model provided by the embodiment of the present application, the ship motion response data sample includes: a first ship motion response sample under regular wave excitation, and a second ship motion response sample under irregular wave excitation;

[0015] The wave spectrum samples include: a first wave spectrum sample corresponding to the first ship motion response sample, and a second wave spectrum sample corresponding to the second ship motion response sample;

[0016] The training process of the wave inversion model includes:

[0017] Inputting the navigation speed sample and the first ship motion response sample into the wave inversion model to obtain a first predicted wave spectrum output by the wave inversion model; comparing a first consistency between the first wave spectrum sample and the first predicted wave spectrum, and optimizing model parameters of the wave inversion model based on the first consistency;

[0018] And inputting the navigation speed sample and the second ship motion response sample into the wave inversion model to obtain a second predicted wave spectrum output by the wave inversion model; comparing the second consistency of the second wave spectrum sample and the second predicted wave spectrum, optimizing the model parameters of the wave inversion model based on the second consistency, until both the first consistency and the second consistency reach preset values, and determining that the wave inversion model training is completed.

[0019] According to the ship motion inversion wave method based on the wave inversion model provided in the embodiment of the present application, regular waves are extracted from irregular waves;

[0020] After both the first consistency and the second consistency reach a preset value, the method further includes:

[0021] Obtaining a main wave direction sample corresponding to the irregular wave, and extracting a main wave frequency sample from the second predicted wave spectrum based on the main wave direction sample;

[0022] Calculating a third ship motion response sample under the regular wave excitation corresponding to the main wave frequency sample;

[0023] subtracting the third ship motion response sample from the second ship motion response sample to obtain a fourth ship motion response sample;

[0024] Inputting the current sailing speed and the fourth ship motion response sample into the wave inversion model to obtain a third predicted wave spectrum;

[0025] The third consistency of the second wave spectrum sample and the third predicted wave spectrum is compared, and the model parameters of the wave inversion model are optimized based on the third consistency, until the first consistency, the second consistency and the third consistency all reach preset values, and it is determined that the wave inversion model training is completed.

[0026] According to the ship motion inversion wave method based on the wave inversion model provided in an embodiment of the present application, the second ship motion response sample includes: a first response sample obtained based on three-dimensional simulation and water tank test and a second response sample obtained based on actual ship test.

[0027] According to the ship motion inversion wave method based on the wave inversion model provided in an embodiment of the present application, the first ship motion response sample is obtained based on the ship motion response calculation formula of the slicing method and three-dimensional simulation.

[0028] According to the ship motion inversion wave method based on the wave inversion model provided in an embodiment of the present application, before obtaining the first ship motion response sample, the method further includes:

[0029] Outputting an initial ship motion response sample corresponding to a regular wave based on the ship motion response calculation formula;

[0030] Verify the actual ship motion response under regular wave excitation based on 3D simulation and tank tests;

[0031] comparing a fourth consistency between the initial ship motion response sample and the actual ship motion response;

[0032] The ship motion response calculation formula is optimized based on the fourth consistency so that the ship motion response calculation formula outputs the first ship motion response sample.

[0033] According to the ship motion wave inversion method based on the wave inversion model provided in an embodiment of the present application, the basic model of the wave inversion model includes any one of an LSTM network or a one-dimensional CNN network.

[0034] An embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the method for inverting waves of ship motion based on a wave inversion model as described above are implemented.

[0035] An embodiment of the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above methods for inverting waves of ship motion based on a wave inversion model.

[0036] The wave inversion method, device and medium for ship motion based on wave inversion model provided in the embodiment of the present application obtain first ship motion response data through a data collector installed on the ship, and perform wave inversion through a wave inversion model corresponding to the ship physical parameters of the current sailing ship to obtain a wave spectrum. This process can obtain the motion response corresponding to the position of the ship in real time to obtain the wave parameters (wave spectrum) at the position of the ship. It can be seen that the present application adopts a wave inversion model corresponding to the propagation physical parameters, which can better predict the wave parameters at the corresponding ship. In addition, the present application uses the average value of the first ship motion response data within a preset time interval to perform wave inversion, avoiding the problem of poor inversion accuracy caused by data changes due to environmental factors. It can be seen that the present application solves the problem of the inability to efficiently measure the wave parameters of the sea area where the ship is located in the prior art, and achieves the purpose of efficiently and accurately completing the ship-borne wave measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in 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 any creative work.

[0038] Figure 1 It is one of the flow diagrams of the method for inverting waves by ship motion based on a wave inversion model provided in an embodiment of the present application;

[0039] Figure 2 This is the second flow chart of the method for inverting waves by ship motion based on a wave inversion model provided in an embodiment of the present application;

[0040] Figure 3It is a structural schematic diagram of a ship motion inversion wave system based on a wave inversion model provided in an embodiment of the present application;

[0041] Figure 4 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] The embodiment of the present application provides a method for inverting waves of ship motion based on a wave inversion model. The method can be applied to a smart terminal, a server, or a controller of an underwater vehicle. The present application uses the method applied to the controller of an underwater vehicle as an example for explanation, and some other descriptions in the embodiment are for illustrative purposes only and are not used to limit the scope of protection of the present application, and will not be described one by one later. The specific implementation of the method is as follows Figure 1 As shown:

[0044] Step 101, obtaining a wave inversion model corresponding to the physical parameters of the current sailing ship, and first ship motion response data corresponding to a preset time interval at the current sailing speed.

[0045] Among them, the physical parameters of the ship include: ship type and the ship width and ship height corresponding to the ship type; the wave inversion model is pre-trained based on the navigation speed samples, the ship motion response data samples corresponding to the ship physical parameters and the navigation speed samples, and the wave spectrum samples; the first ship motion response data is obtained based on the data collector installed on the ship.

[0046] Step 102: Calculate the average value of the first ship motion response data within a preset time interval to obtain the target ship motion response data.

[0047] Step 103, inputting the current sailing speed and the target ship motion response data into the wave inversion model to obtain the wave spectrum output by the wave inversion model.

[0048] The wave inversion method for ship motion based on wave inversion model provided in the embodiment of the present application obtains first ship motion response data through a data collector installed on the ship, and performs wave inversion through a wave inversion model corresponding to the ship physical parameters of the current sailing ship to obtain a wave spectrum. This process can obtain the motion response corresponding to the position of the ship in real time to obtain the wave parameters (wave spectrum) at the position of the ship. It can be seen that the present application adopts a wave inversion model corresponding to the propagation physical parameters, which can better predict the wave parameters at the corresponding ship. In addition, the present application uses the average value of the first ship motion response data within a preset time interval to perform wave inversion, avoiding the problem of poor inversion accuracy caused by data changes due to the influence of environmental factors. It can be seen that the present application solves the problem of the inability to efficiently measure the wave parameters of the sea area where the ship is located in the prior art, and achieves the purpose of efficiently and accurately completing the on-board wave measurement.

[0049] In a specific embodiment, the current sailing speed and the target ship motion response data are input into the wave inversion model to obtain the wave spectrum output by the wave inversion model, then the main wave direction corresponding to the current sailing ship is obtained, and the main wave frequency is extracted from the wave spectrum based on the main wave direction; the second ship motion response data under the regular wave excitation corresponding to the main wave frequency is calculated; the second ship motion response data is subtracted from the target ship motion response data to obtain the third ship motion response data; the current sailing speed and the third ship motion response data are input into the wave inversion model to obtain the target wave spectrum output by the wave inversion model.

[0050] The ship motion response data of the ship in the waves include any one or more of the six-degree-of-freedom motion parameters, dynamic response characteristic parameters and coupled motion parameters. The six-degree-of-freedom motion parameters include surge motion, sway motion, heave motion, roll motion, pitch motion and bow motion; the dynamic response characteristic parameters include amplitude, phase angle and acceleration; the coupled motion parameters include impact, deck waves and propeller water discharge.

[0051] Specifically, the main wave direction is evaluated based on machine vision to obtain the main wave direction.

[0052] Specifically, based on the ship motion response calculation formula of the slice method, the second ship motion response data under the regular wave excitation corresponding to the main wave frequency is calculated.

[0053] Among them, the ship motion response calculation formula based on the slice method is an existing technology, and the basic idea is: establish a general motion equation of a ship in regular waves; divide the hull into several slices along the length direction of the ship, and use two-dimensional flow to calculate the damping coefficient and additional mass on each slice; calculate the disturbance force and torque on each slice according to the waveform; determine the coefficients of the motion equation under various wave frequencies and speeds; solve the equation and calculate the frequency response function under various wave frequencies and speeds; under the assumption of a stationary random process, use statistical analysis methods to predict the motion response of the ship in waves.

[0054] In a specific embodiment, the basic model of the wave inversion model includes any one of an LSTM network or a one-dimensional CNN network.

[0055] Among them, the LSTM network is a time-recurrent network that can be used for prediction tasks.

[0056] Among them, the one-dimensional CNN network is a feedforward neural network with convolution calculation and deep structure, which is one of the deep learning algorithms.

[0057] In a specific embodiment, the first ship motion response sample is obtained based on a ship motion response calculation formula of a slicing method and three-dimensional simulation.

[0058] Specifically, the ship motion response calculation formula based on the slicing method and three-dimensional simulation are used to calculate the ship operation response under different regular wave excitations, and the first ship motion response sample for a given ship type is generated.

[0059] In a specific embodiment, before obtaining the first ship motion response sample, an initial ship motion response sample corresponding to the regular wave is output based on the ship motion response calculation formula; the actual ship motion response under the regular wave excitation is verified based on three-dimensional simulation and water tank test; the fourth consistency of the initial ship motion response sample and the actual ship motion response is compared; and the ship motion response calculation formula is optimized based on the fourth consistency so that the ship motion response calculation formula outputs the first ship motion response sample.

[0060] Specifically, first, the ship motion response calculation formula and three-dimensional simulation are used to calculate the ship operation response under different regular wave excitations to generate the initial ship motion response sample for the given ship type. Then, the same working conditions are tested based on the tank test, and the parameters of the ship motion response calculation formula are adjusted by comparing the data differences to obtain a ship motion response calculation formula with a higher output result accuracy. Finally, the first ship motion response sample is obtained based on the ship motion response calculation formula.

[0061] In a specific embodiment, the second ship motion response sample includes: a first response sample obtained based on three-dimensional simulation and water tank test and a second response sample obtained based on actual ship test.

[0062] Specifically, based on three-dimensional simulation and tank test, the motion response of the ship under different irregular wave excitations is calculated to obtain the first response sample. At the same time, during the test, the corresponding wave parameters are obtained through the buoy or shore-based visual system or radar to verify the second response sample, and the verified second response sample is used as the final second response sample.

[0063] Among them, the test conditions include wave incident direction, ship speed, wave amplitude and frequency, etc.

[0064] Specifically, a second response sample is obtained based on a real ship test.

[0065] It can be seen that the sample data of this application is obtained based on physical formulas (ship motion response calculation formulas) and three-dimensional simulation, three-dimensional simulation and tank tests, and real sea tests of real ships. A large amount of sample data makes the generalization ability of the wave inversion model stronger and the accuracy of the output results higher.

[0066] In a specific embodiment, the present application performs wave inversion prediction on board a ship. The embodiment is only illustrated by taking a preset time interval as an example. The whole process is a continuous prediction process. Therefore, it is necessary to predict the wave parameters step by step based on the preset time interval.

[0067] In a specific embodiment, the ship motion response data sample includes: a first ship motion response sample under regular wave excitation, and a second ship motion response sample under irregular wave excitation. The wave spectrum sample includes: a first wave spectrum sample corresponding to the first ship motion response sample, and a second wave spectrum sample corresponding to the second ship motion response sample.

[0068] The training process of the wave inversion model includes:

[0069] The navigation speed sample and the first ship motion response sample are input into the wave inversion model to obtain a first predicted wave spectrum output by the wave inversion model; the first consistency of the first wave spectrum sample and the first predicted wave spectrum is compared, and the model parameters of the wave inversion model are optimized based on the first consistency.

[0070] And input the navigation speed sample and the second ship motion response sample into the wave inversion model to obtain a second predicted wave spectrum output by the wave inversion model; compare the second consistency of the second wave spectrum sample and the second predicted wave spectrum, optimize the model parameters of the wave inversion model based on the second consistency, until the first consistency and the second consistency both reach preset values, and determine that the wave inversion model training is completed.

[0071] In a specific embodiment, the regular waves are extracted from the irregular waves.

[0072] After both the first consistency and the second consistency reach the preset values, the main wave direction samples corresponding to the irregular waves are obtained, and the main wave frequency samples are extracted from the second predicted wave spectrum based on the main wave direction samples; the third ship motion response samples under the excitation of the regular waves corresponding to the main wave frequency samples are calculated; the third ship motion response samples are subtracted from the second ship motion response samples to obtain the fourth ship motion response samples; the current navigation speed and the fourth ship motion response samples are input into the wave inversion model to obtain the third predicted wave spectrum; the third consistency of the second wave spectrum sample and the third predicted wave spectrum is compared, and the model parameters of the wave inversion model are optimized based on the third consistency, until the first consistency, the second consistency and the third consistency all reach the preset values, and it is determined that the wave inversion model training is completed.

[0073] Next, through Figure 2 The following is a detailed description of this application:

[0074] Step 201, obtaining training samples based on physical formulas and three-dimensional simulation, three-dimensional simulation and tank test, and real sea test of a real ship.

[0075] Step 202: input the training samples into the wave inversion model to train the wave inversion model, so as to predict the wave spectrum using the trained wave inversion model.

[0076] Step 203, input the current sailing speed and the target ship motion response data into the wave inversion model to obtain the wave spectrum output by the wave inversion model.

[0077] Step 204, obtaining the main wave direction corresponding to the current sailing ship, and determining the direction spectrum based on the main wave direction and the wave spectrum.

[0078] Step 205: determine the wave frequency corresponding to the maximum wave and the amplitude corresponding to the wave frequency in the directional spectrum.

[0079] Step 206, input the wave frequency and amplitude into the physical formula to obtain the second ship motion response data.

[0080] Step 207: subtract the second ship motion response data from the target ship motion response data to obtain third ship motion response data.

[0081] Step 208: input the current sailing speed and the third ship motion response data into the wave inversion model to obtain the target wave spectrum output by the wave inversion model.

[0082] Step 209 , determining whether the ratio of the current amplitude to the amplitude determined last time is less than a preset ratio, if so, executing step 210 , otherwise, executing step 211 .

[0083] Among them, the current amplitude is the amplitude corresponding to the maximum wave frequency in the directional spectrum corresponding to the target wave spectrum.

[0084] Step 210, combining the currently extracted wave frequency, amplitude and target wave spectrum to obtain the final target wave spectrum.

[0085] Step 211 , taking the third ship motion response data as the target ship motion response data, and returning to execute step 205 .

[0086] This application is based on the inversion of waves based on the response of ship motion, and divides it into two parts: formula calculation (regular waves) and data inversion (irregular waves), making full use of these two aspects to improve the accuracy and environmental adaptability of the inversion. In addition, the gradual inversion and layer-by-layer approximation ensure the accuracy of wave measurement, which is overall reliable, high in accuracy, and has strong environmental adaptability.

[0087] The present application also provides a ship motion inversion wave system based on a wave inversion model, such as Figure 3 As shown, it includes: a posture sensor 301, a machine vision wave measurement system 302 and an industrial computer 303.

[0088] The attitude sensor 301 is used to measure the first ship motion response data and output it to the industrial computer 303.

[0089] The machine vision wave measurement system 302 is used to evaluate the main wave direction and output it to the industrial computer 303.

[0090] The industrial computer 303 is used to perform wave inversion prediction based on the first ship motion response data and the main wave direction. The specific implementation thereof refers to the above-mentioned embodiment of the ship motion inversion wave method based on the wave inversion model, and the repeated parts are not repeated here.

[0091] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4 As shown, the electronic device may include: a processor 401, a communication interface 402, a memory 403 and a communication bus 404, wherein the processor 401, the communication interface 402 and the memory 403 communicate with each other through the communication bus 404. The processor 401 may call the logic instructions in the memory 403 to execute the ship motion inversion wave method based on the wave inversion model.

[0092] In addition, the logic instructions in the above-mentioned memory 403 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0093] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the ship motion inversion wave method based on the wave inversion model provided by the above-mentioned methods.

[0094] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the ship motion wave inversion method based on the wave inversion model provided in the above-mentioned embodiments.

[0095] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0096] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0097] Finally, it should be noted that the above is only the preferred implementation of the present application, and the present application is not limited to the above embodiments. It is understood that other improvements and changes directly derived or associated by those skilled in the art without departing from the spirit and concept of the present application should be considered to be included in the scope of protection of the present application.

Claims

1. A method for inverting waves from ship motion based on a wave inversion model, characterized in that: The method comprises: Acquire a wave inversion model corresponding to the ship physical parameters of the current sailing ship, and first ship motion response data corresponding to a preset time interval at the current sailing speed, wherein the ship physical parameters include: ship type and ship width and ship height corresponding to the ship type, the wave inversion model is pre-trained based on sailing speed samples, ship motion response data samples corresponding to the ship physical parameters and the sailing speed samples, and wave spectrum samples, and the first ship motion response data is obtained based on a data collector installed on the ship; Calculating an average value of the first ship motion response data within the preset time interval to obtain target ship motion response data; The current sailing speed and the target ship motion response data are input into the wave inversion model to obtain a wave spectrum output by the wave inversion model.

2. The method for inverting waves by ship motion based on a wave inversion model according to claim 1, characterized in that: After inputting the current sailing speed and the target ship motion response data into the wave inversion model to obtain the wave spectrum output by the wave inversion model, the method further includes: Obtaining the main wave direction corresponding to the current sailing ship, and extracting the main wave frequency from the wave spectrum based on the main wave direction; Calculating the second ship motion response data under the regular wave excitation corresponding to the main wave frequency; subtracting the second ship motion response data from the target ship motion response data to obtain third ship motion response data; The current sailing speed and the third ship motion response data are input into the wave inversion model to obtain a target wave spectrum output by the wave inversion model.

3. The ship motion inversion wave method based on the wave inversion model according to claim 1 or 2, characterized in that: The ship motion response data samples include: a first ship motion response sample under regular wave excitation, and a second ship motion response sample under irregular wave excitation; The wave spectrum samples include: a first wave spectrum sample corresponding to the first ship motion response sample, and a second wave spectrum sample corresponding to the second ship motion response sample; The training process of the wave inversion model includes: Inputting the navigation speed sample and the first ship motion response sample into the wave inversion model to obtain a first predicted wave spectrum output by the wave inversion model; comparing a first consistency between the first wave spectrum sample and the first predicted wave spectrum, and optimizing model parameters of the wave inversion model based on the first consistency; And inputting the navigation speed sample and the second ship motion response sample into the wave inversion model to obtain a second predicted wave spectrum output by the wave inversion model; comparing the second consistency of the second wave spectrum sample and the second predicted wave spectrum, optimizing the model parameters of the wave inversion model based on the second consistency, until both the first consistency and the second consistency reach preset values, and determining that the wave inversion model training is completed.

4. The method for inverting waves by ship motion based on a wave inversion model according to claim 3 is characterized in that: Regular waves are extracted from irregular waves; After both the first consistency and the second consistency reach a preset value, the method further includes: Obtaining a main wave direction sample corresponding to the irregular wave, and extracting a main wave frequency sample from the second predicted wave spectrum based on the main wave direction sample; Calculating a third ship motion response sample under the regular wave excitation corresponding to the main wave frequency sample; subtracting the third ship motion response sample from the second ship motion response sample to obtain a fourth ship motion response sample; Inputting the current sailing speed and the fourth ship motion response sample into the wave inversion model to obtain a third predicted wave spectrum; The third consistency of the second wave spectrum sample and the third predicted wave spectrum is compared, and the model parameters of the wave inversion model are optimized based on the third consistency, until the first consistency, the second consistency and the third consistency all reach preset values, and it is determined that the wave inversion model training is completed.

5. The method for inverting waves by ship motion based on a wave inversion model according to claim 3, characterized in that: The second ship motion response samples include: a first response sample obtained based on three-dimensional simulation and water tank test and a second response sample obtained based on actual ship test.

6. The method for inverting waves by ship motion based on a wave inversion model according to claim 3, characterized in that: The first ship motion response sample is obtained based on a ship motion response calculation formula of a slicing method and three-dimensional simulation.

7. The method for inverting waves by ship motion based on a wave inversion model according to claim 6, characterized in that: Before obtaining the first ship motion response sample, the method further includes: Outputting an initial ship motion response sample corresponding to a regular wave based on the ship motion response calculation formula; Verify the actual ship motion response under regular wave excitation based on 3D simulation and tank tests; comparing a fourth consistency between the initial ship motion response sample and the actual ship motion response; The ship motion response calculation formula is optimized based on the fourth consistency so that the ship motion response calculation formula outputs the first ship motion response sample.

8. The method for inverting waves by ship motion based on a wave inversion model according to claim 1 or 2, characterized in that: The basic model of the wave inversion model includes any one of an LSTM network or a one-dimensional CNN network.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the ship motion inversion wave method based on the wave inversion model as described in any one of claims 1 to 8 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the ship motion inversion wave method based on a wave inversion model as described in any one of claims 1 to 8 are implemented.

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