Multi-point synchronous processing method and device for shipborne navigation data

Abstract

The invention provides a multi-point synchronous processing method and device for shipborne navigation data, and relates to the technical field of data processing, and the method comprises the steps: obtaining the state data of shipborne navigation, the state data comprising an instantaneous state set; performing data addition on adjacent state moments in the state instantaneous set to obtain an additional instantaneous state set and an additional state instantaneous set; performing data combination according to the additional instantaneous state set and the instantaneous state set to obtain an enhanced instantaneous state set; performing synchronism authentication on the enhanced instantaneous state set according to the acquisition source to obtain a synchronism coefficient; and according to the synchronism coefficient, carrying out acquisition quality evaluation on the state data, and according to an acquisition quality evaluation result, fusing the enhanced instantaneous state set to obtain a fused instantaneous state set. The technical problem that the ship state data cannot be effectively synchronized in the prior art can be solved, the technical target of efficient synchronization of the ship state data is achieved, and the technical effect of improving the accuracy of ship state analysis is achieved.

Description

Technical Field

[0001] This application relates to the technical field of data processing, and particularly to a multi-point synchronous processing method and device for shipborne navigation data. Background Art

[0002] Existing ship navigation data acquisition technologies mainly rely on various sensors and devices, such as GPS positioning, radar, anemometers, engine monitoring systems, etc. These sensors provide instantaneous data such as the ship's position information, speed, heading, acceleration, etc. under different acquisition cycles. However, there are some deficiencies in traditional data acquisition methods, which limit the accuracy and real-time nature of ship state analysis.

[0003] Currently, the problem of synchronization between different sensors generally exists in traditional ship state data acquisition methods. Ship state data comes from multiple different sensor devices, and the data acquisition times of these sensors are often inconsistent, resulting in the inability to effectively fuse and analyze the acquired data. There may be time deviations in the data of different sensors, resulting in asynchronous or inconsistent ship state data, seriously affecting the accuracy of data analysis. For example, when a ship simultaneously acquires data from multiple sensors, if there are deviations in the timestamps of these data, it may lead to an inability to accurately evaluate the actual situation of the ship under certain instantaneous states.

[0004] In summary, there is a technical problem in the prior art that due to the deviation in data acquisition times between different sensors, the ship state data cannot be effectively synchronized, further affecting the accuracy of data fusion and analysis, and thus affecting the accurate assessment of the ship's real-time state and the guarantee of navigation safety. Summary of the Invention

[0005] The purpose of this application is to provide a multi-point synchronous processing method and device for shipborne navigation data to solve the technical problem in the prior art that due to the deviation in data acquisition times between different sensors, the ship state data cannot be effectively synchronized, further affecting the accuracy of data fusion and analysis, and thus affecting the accurate assessment of the ship's real-time state and the guarantee of navigation safety.

[0006] In view of the above problems, this application provides a multi-point synchronous processing method and device for shipborne navigation data.

[0007] In a first aspect, the present application provides a multi-point synchronous processing method for shipborne navigation data, which is implemented by a multi-point synchronous processing device for shipborne navigation data, and includes: obtaining the status data of shipborne navigation, where the status data includes an instantaneous status set, and the instantaneous status set corresponds to the status instantaneous set; performing data appendage on adjacent status instants in the status instantaneous set to obtain an appended instantaneous status set and an appended status instantaneous set; performing data combination according to the appended instantaneous status set and the instantaneous status set to obtain an enhanced instantaneous status set; performing synchronization authentication on the enhanced instantaneous status set according to the acquisition source to obtain a synchronization coefficient; evaluating the acquisition quality of the status data according to the synchronization coefficient, and fusing the enhanced instantaneous status set according to the acquisition quality evaluation result to obtain a fused instantaneous status set.

[0008] In a second aspect, the present application further provides a multi-point synchronous processing device for shipborne navigation data, which is used to execute the multi-point synchronous processing method for shipborne navigation data as described in the first aspect, and includes: a status data acquisition module, which is used to obtain the status data of shipborne navigation, where the status data includes an instantaneous status set, and the instantaneous status set corresponds to the status instantaneous set; a data appendage module, which is used to perform data appendage on adjacent status instants in the status instantaneous set to obtain an appended instantaneous status set and an appended status instantaneous set; a data combination module, which is used to perform data combination according to the appended instantaneous status set and the instantaneous status set to obtain an enhanced instantaneous status set; a synchronization authentication module, which is used to perform synchronization authentication on the enhanced instantaneous status set according to the acquisition source to obtain a synchronization coefficient; an acquisition quality evaluation module, which is used to evaluate the acquisition quality of the status data according to the synchronization coefficient, and fuse the enhanced instantaneous status set according to the acquisition quality evaluation result to obtain a fused instantaneous status set.

[0009] The technical solution provided in the present application has at least the following technical effects or advantages: by obtaining the status data of shipborne navigation, where the status data includes an instantaneous status set, and the instantaneous status set corresponds to the status instantaneous set; performing data appendage on adjacent status instants in the status instantaneous set to obtain an appended instantaneous status set and an appended status instantaneous set; performing data combination according to the appended instantaneous status set and the instantaneous status set to obtain an enhanced instantaneous status set; performing synchronization authentication on the enhanced instantaneous status set according to the acquisition source to obtain a synchronization coefficient; evaluating the acquisition quality of the status data according to the synchronization coefficient, and fusing the enhanced instantaneous status set according to the acquisition quality evaluation result to obtain a fused instantaneous status set, that is to say, by achieving the technical goal of efficient synchronization and precise fusion of ship status data, the technical effects of improving the accuracy, real-time performance and reliability of ship status analysis are achieved, so as to better ensure navigation safety and improve the efficiency of ship management.

[0010] The above description is only an overview of the technical solution of the present application. In order to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the following specific embodiments of the present application are specifically given. It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become easily understandable through the following description. Brief Description of the Drawings

[0011] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings described below are only exemplary. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0012] Figure 1 It is a schematic flowchart of a method for multi-point synchronous processing of on-board navigation data of the present application;

[0013] Figure 2 It is a schematic structural diagram of a device for multi-point synchronous processing of on-board navigation data of the present application.

[0014] Description of the Reference Numerals:

[0015] Status data acquisition module 11, data append module 12, data combination module 13, synchronization authentication module 14, acquisition quality evaluation module 15. Detailed Description of the Embodiments

[0016] By providing a method and device for multi-point synchronous processing of on-board navigation data, the present application solves the technical problem in the prior art that due to the deviation in data acquisition time between different sensors, the ship status data cannot be effectively synchronized, further affecting the accuracy of data fusion and analysis, and then affecting the accurate assessment of the real-time status of the ship and the guarantee of navigation safety. The technical goal of realizing the efficient synchronization and precise fusion of ship status data is achieved, and the technical effects of improving the accuracy, real-time performance and reliability of ship status analysis are achieved, so as to better guarantee navigation safety and improve the efficiency of ship management.

[0017] Next, the technical solutions in the present application will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the example embodiments described herein. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application. Additionally, it should be noted that for the sake of description, only the parts related to the present application are shown in the drawings rather than all of them.

[0018] Embodiment 1. Please refer to the attached Figure 1 , the present application provides a multi-point synchronous processing method for shipborne navigation data, which is applied to a multi-point synchronous processing device for shipborne navigation data, and specifically includes: obtaining the state data of shipborne navigation, where the state data includes an instantaneous state set, and the instantaneous state set corresponds to the state instantaneous set.

[0019] Specifically, various types of data of the ship are collected in real time through different sensors and devices as state data to reflect the current operating condition of the ship. For example, the position information obtained through GPS describes the longitude and latitude of the ship, and the speed and heading reflect the instantaneous motion state of the ship. The instantaneous state set refers to the set of ship operation data recorded by the corresponding sensors at a specific time point, including position, speed, heading, acceleration, engine state, etc., which can present the real-time state of the ship. The state instantaneous set is the corresponding time point of the data collection set obtained by the sensor.

[0020] Append data to adjacent state instants in the state instantaneous set to obtain an appended instantaneous state set and an appended state instantaneous set.

[0021] Specifically, by performing additional collection at the interval time points between the collection time points, more real-time information can be obtained. The append not only makes the instantaneous state set more complete, but also improves the continuity and real-time nature of the data, and can more accurately reflect the state change of the ship between two time points. For example, the original collection period is once every minute. By appending collection time points between the collection time points, the modified collection period is once every thirty seconds. The appended collection time points are used as the appended state instantaneous set, and the collection data of the appended state instantaneous set is used as the appended instantaneous state set.

[0022] Combine the data according to the appended instantaneous state set and the instantaneous state set to obtain an enhanced instantaneous state set.

[0023] Specifically, the additional instantaneous state set is combined with the instantaneous state set. After the new collected data is combined with the original collected data, all the collected data is more compact in time and can more accurately reflect the state change of the ship between two time points. That is, the enhanced instantaneous state set formed by combining the additional data with the original instantaneous state set is more complete and continuous than the original data set, and can capture the change of the ship's operating state more precisely through more frequent sampling.

[0024] Synchronization authentication is performed on the enhanced instantaneous state set according to the collection source to obtain a synchronization coefficient.

[0025] Specifically, performing synchronization authentication on the enhanced instantaneous state set according to the collection source means comparing the data from different sources collected by different sensors or devices at the same time point to evaluate whether the data from different sources is consistent in time. If the degree of consistency of the data from different sources at this time point is higher, the value of the synchronization coefficient at this time point is larger, and vice versa. The time alignment between data sources can more accurately reflect the real-time state change of the ship and improve the credibility and accuracy of analysis.

[0026] The collection quality of the state data is evaluated according to the synchronization coefficient, and the enhanced instantaneous state set is fused according to the collection quality evaluation result to obtain a fused instantaneous state set.

[0027] Specifically, the collection quality of the ship's state data is evaluated based on the synchronization coefficient to judge the reliability and accuracy of the data. When the synchronization coefficient is higher, it indicates that the collection quality of the data from different sources is better, and vice versa, it indicates that there may be collection deviations in the sensors or devices of the data, and the collection quality is worse, and further processing is required. Align the data from multiple sensors according to the time point, and combine the synchronization coefficients corresponding to different data sources, and select the data from the collection sources with higher quality for merging. The state data of the ship becomes more complete and accurate, and can better reflect the actual operating state of the ship.

[0028] The method for multi-point synchronization processing of shipborne navigation data is applied to a device for multi-point synchronization processing of shipborne navigation data, which can achieve the technical goal of efficient synchronization and precise fusion of ship state data, and achieve the technical effects of improving the accuracy, real-time performance and reliability of ship state analysis, so as to better ensure navigation safety and improve the efficiency of ship management.

[0029] Further, this application also includes: performing time addition for adjacent state instants of the first state instant set of the first acquisition source to obtain a first additional state instant set, where the first acquisition source is extracted according to the acquisition source, and the first state instant set is extracted according to the state instant set; performing data supplementation on the first instant state set according to the first additional state instant set to obtain a first additional instant state set, where the first instant state set is extracted according to the instant state set and corresponds to the first state instant set; performing data addition on the instant state set based on the first additional instant state set to obtain the additional instant state set, and the additional instant state set corresponds to the additional state instant set.

[0030] Specifically, time addition is performed for adjacent state instants through the first state instant set of the first acquisition source to obtain a first additional state instant set. Among them, the addition is achieved by inserting a new acquisition data time point between two adjacent acquisition time points, thereby shortening the time interval of the data and further enhancing the continuity and real-time nature of the data. The first acquisition source refers to any acquisition source randomly extracted from multiple acquisition sources. The acquisition time points of the first acquisition source are used as the first state instant set.

[0031] Next, data supplementation is performed on the first instant state set according to the first additional state instant set to fill the gaps between the acquisition time points, obtaining a first additional instant state set, thereby making the time distribution of the data more compact, and the original state set is expanded and improved, which helps to more accurately reflect the state change of the ship between two time points.

[0032] Data addition is performed on the instant state set based on the first additional instant state set, and the state data originally collected at intervals is further refined to obtain an additional instant state set, where the additional instant state set corresponds to the first additional state instant set. Through the data addition process, the sampling frequency increases, thereby improving the timeliness and continuity of the data, making the change of the ship state presented more smoothly, and further providing a more accurate basis for subsequent analysis.

[0033] Further, this application also includes: extracting a first instant and a second instant from the first state instant set, where the first instant and the second instant are adjacent state instants; performing time addition on the first instant and the second instant to obtain a first additional instant, where the distance from the first additional instant to the first instant is the same as the distance to the second instant; performing data supplementation of the first additional instant on the first instant state set based on the additional state model to obtain a first additional instant state; performing data supplementation on the first instant state set based on the first additional instant state to obtain the first additional instant state set.

[0034] Specifically, two pieces of state data at adjacent time points are instantaneously extracted from the first state. The first instant and the second instant respectively represent different time points of the ship. The process of time addition is to insert new acquisition time points between these two adjacent instants, so as to make the time interval of the data more dense. The added time points maintain the same distance as that between the first instant and the second instant to ensure the symmetry of the newly added data points in time, so as to more accurately describe the change of the ship's state. The added state model is obtained by mathematically modeling the existing state data set, calculating the data of the first added instant state, and then being able to fill in the blanks in the original data, making the operation state of the ship smoother and more continuous in the time dimension, and further improving the timeliness and reliability of the data.

[0035] Based on the first added instant state, data supplementary acquisition is carried out on the acquisition data of any two adjacent original acquisition times in the first instant state set to obtain the first added instant state set, forming a more complete and continuous state data set. Furthermore, the description of the ship's state becomes more accurate, and the dynamic changes of the ship at each time point can be reflected more accurately.

[0036] Furthermore, this application also includes: training an added generation channel based on adjacent instant samples and adjacent state samples in the first state sample set as generation samples, training an added discrimination channel based on added instant samples and added state samples as discrimination samples, and obtaining the added state model by fusing the added generation channel and the added discrimination channel; inputting the first instant and the second instant into the added state model for added generation to obtain the first added instant state, where the first added instant state corresponds to the first added instant.

[0037] Specifically, adjacent instant samples and adjacent state samples are extracted from the first state sample set at the historical time corresponding to the first acquisition source to generate training samples. The adjacent instant samples are any two adjacent time points among the acquisition data time points of the ship's state, and the state samples are the state data acquired at these adjacent time points, and are then used to train the added generation channel.

[0038] Then, an added discrimination channel is trained based on added instant samples and added state samples as discrimination samples, so as to provide support for judging whether the generated data is reliable and whether it conforms to the actual operation condition. The purpose of the discrimination channel is to judge whether the generated data meets the expectations, ensure that the generated instant state data has a high credibility, and can accurately reflect the real operation state of the ship. Then, the added state model is obtained by fusing the added generation channel and the added discrimination channel, so as to improve the quality and accuracy of the data in multiple dimensions and ensure the timeliness and continuity of the ship's state data.

[0039] Finally, append the first instantaneous and second instantaneous input to the append state model for append generation to obtain the first appended instantaneous state. Here, the first appended instantaneous state corresponds to the first appended instant. After inputting the original first instantaneous and second instantaneous data into the append state model, new appended instantaneous state data is output, thus making the description of the ship's state more continuous and refined.

[0040] The data generated by the append state model can fill the gaps between the acquisition time points, shorten the data period, and thus improve the timeliness and accuracy of the data.

[0041] Furthermore, this application also includes: obtaining the instantaneous sample step and state sample step of the first acquisition source; performing time series training according to the instantaneous sample step and state sample step to generate a full sequence state; extracting adjacent instantaneous samples, adjacent state samples, appended instantaneous samples, and appended state samples from the full sequence state, where the distances between the appended instantaneous samples and the adjacent instantaneous samples are the same.

[0042] Specifically, obtain the instantaneous sample step and state sample step of the first acquisition source. The instantaneous sample step represents multiple instantaneous samples in the time series, and the state sample step is the acquisition data corresponding to the instantaneous sample step.

[0043] Next, perform time series training according to the instantaneous sample step and state sample step to generate a full sequence state. Organize the ship state data into a complete time series in chronological order according to the time interval, so as to comprehensively reflect the operating state of the ship, and then form an ordered and continuous state sequence, providing a structured data basis for subsequent analysis.

[0044] Then, extract adjacent instantaneous samples, adjacent state samples, appended instantaneous samples, and appended state samples from the full sequence state. Among them, the distances between the appended instantaneous samples and two time points in the adjacent instantaneous samples are the same, filling the blanks in the time interval, making the time distribution of the ship state data denser, and ensuring the consistency and coherence of the data time interval.

[0045] By extracting adjacent samples from the full sequence state and generating appended samples, the data set is further improved, effectively increasing the continuity and timeliness of the data, and enabling the changes in the ship's state to be captured more meticulously and accurately.

[0046] Furthermore, this application also includes: performing state synchronization authentication according to the first enhanced instantaneous state set of the first acquisition source and the traversal enhanced instantaneous state set of the traversed acquisition source to obtain the first synchronization coefficient, where the first acquisition source is extracted according to the acquisition source; traversing the acquisition source to perform traversal authentication on the enhanced instantaneous state set to obtain the synchronization coefficient.

[0047] Specifically, the enhanced instantaneous state set obtained from the first acquisition source is synchronously authenticated with all the enhanced instantaneous state sets obtained by sequentially accessing the acquisition sources. By comparing the corresponding situations of the data sets at the same time point, the synchrony between the data of each acquisition source is evaluated to ensure the temporal consistency of each data source, thereby improving the accuracy and reliability of the overall data. The enhanced instantaneous state set of the first acquisition source is based on the acquisition sources randomly extracted from multiple sensors or devices.

[0048] Next, by traversing different acquisition sources, the synchrony authentication of each enhanced instantaneous state set is performed to obtain the synchrony coefficient of each acquisition source with other acquisition sources, which reflects the degree of temporal alignment between multiple data sources. The higher the value of the synchrony coefficient, the higher the degree of consistency of the data from each source at the same time, and vice versa, indicating the existence of an acquisition source with acquisition data deviation.

[0049] By obtaining the synchrony coefficient, the temporal consistency and quality of the data set can be effectively evaluated and improved.

[0050] Furthermore, the present application further includes: comparing the synchrony coefficient based on a synchrony coefficient threshold to extract collaborative acquisition sources; fusing according to the collaborative instantaneous state set of the collaborative acquisition sources to obtain the fused instantaneous state set, wherein the collaborative instantaneous state set is extracted according to the enhanced instantaneous state set.

[0051] Specifically, the synchrony coefficients of each acquisition source are compared based on the synchrony coefficient threshold, and the acquisition sources with higher synchrony coefficients are selected to extract the collaborative acquisition sources that meet the synchrony coefficient threshold for collaborative work. The synchrony coefficient threshold is obtained by those skilled in the art according to the actual situation.

[0052] Next, the collaborative instantaneous state set is extracted according to the enhanced instantaneous state set. Based on the selected collaborative acquisition sources, the collaborative instantaneous state set is extracted, thereby ensuring the consistency and reliability of the data. By fusing the collaborative instantaneous state sets, the fused instantaneous state set is obtained. By integrating the data of multiple collaborative acquisition sources, the integrity, accuracy, and timeliness of the data are improved, so as to more comprehensively reflect the operating state of the ship.

[0053] In summary, the multi-point synchronous processing method for shipborne navigation data provided by this application has the following technical effects: By obtaining the status data of shipborne navigation, the status data includes an instantaneous status set, and the instantaneous status set corresponds to the status instantaneous set; data is appended to adjacent status instants in the status instantaneous set to obtain an appended instantaneous status set and an appended status instantaneous set; data combination is performed according to the appended instantaneous status set and the instantaneous status set to obtain an enhanced instantaneous status set; synchronous authentication is performed on the enhanced instantaneous status set according to the acquisition source to obtain a synchronous coefficient; the acquisition quality of the status data is evaluated according to the synchronous coefficient, and the enhanced instantaneous status set is fused according to the acquisition quality evaluation result to obtain a fused instantaneous status set. That is to say, by achieving the technical goal of efficient synchronization and precise fusion of ship status data, the accuracy, real-time performance, and reliability of ship status analysis are improved, thereby better ensuring navigation safety and enhancing the efficiency of ship management.

[0054] Embodiment 2. Based on the multi-point synchronous processing method for shipborne navigation data in the foregoing embodiment and the same inventive concept, this application also provides a multi-point synchronous processing device for shipborne navigation data. Please refer to the appendix Figure 2 , including: a status data acquisition module 11, which is used to acquire the status data of shipborne navigation, the status data includes an instantaneous status set, and the instantaneous status set corresponds to the status instantaneous set; a data append module 12, which is used to append data to adjacent status instants in the status instantaneous set to obtain an appended instantaneous status set and an appended status instantaneous set; a data combination module 13, which is used to perform data combination according to the appended instantaneous status set and the instantaneous status set to obtain an enhanced instantaneous status set; a synchronous authentication module 14, which is used to perform synchronous authentication on the enhanced instantaneous status set according to the acquisition source to obtain a synchronous coefficient; an acquisition quality evaluation module 15, which is used to evaluate the acquisition quality of the status data according to the synchronous coefficient and fuse the enhanced instantaneous status set according to the acquisition quality evaluation result to obtain a fused instantaneous status set.

[0055] Further, the multi-point synchronous processing device for on-board navigation data is further configured to: perform time addition on adjacent state instants of the first state instant set of the first acquisition source to obtain a first added state instant set, where the first acquisition source is extracted according to the acquisition source, and the first state instant set is extracted according to the state instant set; perform data supplementation on the first instant state set according to the first added state instant set to obtain a first added instant state set, where the first instant state set is extracted according to the instant state set and corresponds to the first state instant set; perform data addition on the instant state set based on the first added instant state set to obtain the added instant state set, and the added instant state set corresponds to the added state instant set.

[0056] Further, the multi-point synchronous processing device for on-board navigation data is further configured to: extract a first instant and a second instant from the first state instant set, where the first instant and the second instant are adjacent state instants; perform time addition on the first instant and the second instant to obtain a first added instant, where the distance from the first added instant to the first instant is the same as the distance to the second instant; perform data supplementation of the first added instant on the first instant state set based on an added state model to obtain a first added instant state; perform data supplementation on the first instant state set based on the first added instant state to obtain the first added instant state set.

[0057] Further, the multi-point synchronous processing device for on-board navigation data is further configured to: use adjacent instant samples and adjacent state samples in the first state sample set as generation samples to train an added generation channel, use added instant samples and added state samples as discrimination samples to train an added discrimination channel, and fuse the added generation channel and the added discrimination channel to obtain the added state model; input the first instant and the second instant into the added state model for added generation to obtain the first added instant state, where the first added instant state corresponds to the first added instant.

[0058] Further, the multi-point synchronous processing device for on-board navigation data is further configured to: obtain the instant sample step length and the state sample step length of the first acquisition source; perform time series training according to the instant sample step length and the state sample step length to generate a full sequence state; extract adjacent instant samples, adjacent state samples, added instant samples, and added state samples according to the full sequence state, where the distances from the added instant samples to the adjacent instant samples are the same.

[0059] Further, the multi-point synchronous processing device for on-board navigation data is further configured to: perform state synchronization authentication based on the first enhanced instantaneous state set of the first acquisition source and the traversed enhanced instantaneous state set of the traversed acquisition sources, to obtain a first synchronization coefficient, wherein the first acquisition source is extracted according to the acquisition sources; traverse the acquisition sources to perform traversal authentication on the enhanced instantaneous state set, to obtain the synchronization coefficient.

[0060] Further, the multi-point synchronous processing device for on-board navigation data is further configured to: perform comparison of the synchronization coefficient based on a synchronization coefficient threshold, and extract cooperative acquisition sources; perform fusion according to the cooperative instantaneous state set of the cooperative acquisition sources, to obtain the fused instantaneous state set, wherein the cooperative instantaneous state set is extracted according to the enhanced instantaneous state set.

[0061] The various embodiments in this specification are described in a progressive manner, and the key points of each embodiment are the differences from other embodiments. The multi-point synchronous processing method and specific examples in the foregoing Embodiment 1 are equally applicable to the multi-point synchronous processing device in this embodiment. Through the foregoing detailed description of the multi-point synchronous processing method for on-board navigation data, those skilled in the art can clearly know the multi-point synchronous processing device in this embodiment. Therefore, for the sake of brevity of the specification, it will not be described in detail herein.

[0062] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0063] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalent technologies, the present application is also intended to include these changes and modifications.

Claims

1. A multi-point synchronous processing method for shipborne navigation data, characterized in that: include: Acquire state data of shipboard navigation, wherein the state data includes an instantaneous state set, and the instantaneous state set corresponds to the state instantaneous set; Appending data to adjacent state instants in the state instant set to obtain an appended instant state set and an appended state instant set; Combining data of the additional instantaneous state set with the instantaneous state set to obtain an enhanced instantaneous state set; Performing synchronization authentication on the enhanced instantaneous state set according to the acquisition source to obtain a synchronization coefficient; The acquisition quality of the state data is evaluated according to the synchronization coefficient, and the enhanced instantaneous state set is fused according to the acquisition quality evaluation result to obtain a fused instantaneous state set.

2. A method for multi-point synchronous processing of shipborne navigation data according to claim 1, characterized in that: Appending data to adjacent state instants in the state instant set to obtain an appended instant state set and an appended state instant set, including: Adding time of adjacent state instants to a first state instant set of a first acquisition source to obtain a first appended state instant set, wherein the first acquisition source is extracted according to the acquisition source and the first state instant set is extracted according to the state instant set; Supplementing the first transient state set with data according to the first additional transient state set to obtain a first additional transient state set, wherein the first transient state set is extracted according to the transient state set and corresponds to the first state transient set; Data is appended to the transient state set based on the first appended transient state set to obtain the appended transient state set, and the appended transient state set corresponds to the appended state transient set.

3. A multi-point synchronous processing method for shipborne navigation data according to claim 2, characterized in that: Supplementing the first instantaneous state set with data according to the first additional state instantaneous set to obtain the first additional instantaneous state set includes: Extracting a first instant and a second instant according to the first state instant set, wherein the first instant and the second instant are adjacent state instants; Performing time addition on the first instant and the second instant to obtain a first additional instant, wherein a distance from the first additional instant to the first instant is the same as a distance from the first additional instant to the second instant; Supplementing the first instantaneous state set with data of the first additional instant based on the additional state model to obtain a first additional instant state; The first transient state set is supplemented with data based on the first additional transient state to obtain the first additional transient state set.

4. A method for multi-point synchronous processing of shipborne navigation data as claimed in claim 3, characterized in that: Supplementing the first instantaneous state set with data of the first additional instantaneous state based on the additional state model to obtain the first additional instantaneous state includes: Based on the adjacent instantaneous samples and the adjacent state samples in the first state sample set as the generating samples, the additional generating channel is trained, based on the additional instantaneous samples and the additional state samples as the discriminating samples, the additional discriminating channel is trained, and the additional state model is obtained by fusing the additional generating channel and the additional discriminating channel; The first instant and the second instant are input into the additional state model for additional generation to obtain the first additional instant state, wherein the first additional instant state corresponds to the first additional instant.

5. A method for multi-point synchronous processing of shipborne navigation data as claimed in claim 4, characterized in that: Before training an additional generation channel based on adjacent instantaneous samples and adjacent state samples in the first state sample set as generation samples and training an additional discrimination channel based on the additional instantaneous samples and the additional state samples as discrimination samples, the method includes: Acquire the instantaneous sample step length and the state sample step length of the first acquisition source; Performing time series training according to the instantaneous sample step length and the state sample step length to generate a full sequence state; Adjacent instantaneous samples, adjacent state samples, additional instantaneous samples and additional state samples are extracted according to the full sequence state, wherein the additional instantaneous samples are at the same distance as the adjacent instantaneous samples.

6. A method for multi-point synchronous processing of shipborne navigation data as claimed in claim 1, characterized in that: Performing synchronization authentication on the enhanced instantaneous state set according to the acquisition source to obtain a synchronization coefficient includes: Performing state synchronization authentication according to a first enhanced instantaneous state set of a first acquisition source and a traversal enhanced instantaneous state set of a traversal acquisition source to obtain a first synchronization coefficient, wherein the first acquisition source is extracted according to the acquisition source; The acquisition sources are traversed to perform traversal authentication on the enhanced instantaneous state set to obtain the synchronization coefficient.

7. A method for multi-point synchronous processing of shipborne navigation data as claimed in claim 1, characterized in that: The method further comprises: evaluating the acquisition quality of the state data according to the synchronization coefficient, fusing the enhanced instantaneous state set according to the acquisition quality evaluation result, and obtaining the fused instantaneous state set, including: Comparing the synchronization coefficients based on a synchronization coefficient threshold, and extracting a collaborative acquisition source; The collaborative instantaneous state set of the collaborative acquisition sources is fused to obtain the fused instantaneous state set, wherein the collaborative instantaneous state set is extracted according to the enhanced instantaneous state set.

8. A multi-point synchronous processing device for shipborne navigation data, characterized in that: The steps for implementing the multi-point synchronization processing method of shipborne navigation data as described in any one of claims 1 to 7 include: A state data acquisition module, the state data acquisition module is used to acquire state data of shipboard navigation, the state data includes an instantaneous state set, and the instantaneous state set corresponds to the state instantaneous set; A data appending module, the data appending module is used to append data to adjacent state instants in the state instant set to obtain an appended instant state set and an appended state instant set; A data combination module, the data combination module is used to perform data combination according to the additional instantaneous state set and the instantaneous state set to obtain an enhanced instantaneous state set; A synchronization authentication module, the synchronization authentication module is used to perform synchronization authentication on the enhanced instantaneous state set according to the acquisition source to obtain a synchronization coefficient; An acquisition quality assessment module is used to assess the acquisition quality of the state data according to the synchronization coefficient, and to fuse the enhanced instantaneous state set according to the acquisition quality assessment result to obtain a fused instantaneous state set.

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