Ship broadside wave-making feature extraction method and device based on radar data and medium

Abstract

The invention discloses a radar data-based ship broadside wave-making feature extraction method and device and a medium, and relates to the technical field of ship engineering, and the method comprises the steps: obtaining the broadside wave-making data of a target ship obtained based on a radar, and the motion parameters of the target ship obtained based on a plurality of sensors; extracting initial wave-making data corresponding to the target position from the broadside wave-making data; inputting the motion parameters and the initial wave-making data into a data correction mathematical model to obtain target wave-making data output by the data correction mathematical model; and creating a wave-making curve by taking the timestamp as a horizontal coordinate and the target wave-making data as a vertical coordinate, and extracting broadside wave-making features based on the wave-making curve. The method is used for solving the problems that the extraction range is limited and the extraction accuracy is poor when the ship broadside wave-making features are extracted in the prior art, and the extraction of the ship broadside wave-making features is completed comprehensively, quickly and accurately.

Description

Technical Field

[0001] The present application relates to the field of ship engineering technology, and in particular to a method, device and medium for extracting ship side wave-making features based on radar data. Background Art

[0002] During navigation, ships generate waves on their sides. The characteristics of these waves are crucial for understanding the ship's hydrodynamic performance, navigation safety, and impact on the surrounding environment. Accurately extracting these characteristics facilitates in-depth research on the ship's wave resistance, wave forces on the ship, and ship maneuverability, providing a crucial basis for ship design, optimization, and performance evaluation.

[0003] Existing methods for extracting the wave-making characteristics of a ship's side primarily rely on single measurement methods, such as pressure sensors and wave height meters. While simple, these methods suffer from limited measurement range and an inability to fully and accurately reflect the wave-making characteristics. Summary of the Invention

[0004] In response to the above-mentioned problems and technical needs, the applicant has proposed a method, equipment and medium for extracting ship side wave-making features based on radar data, so as to solve the problems of limited extraction range and poor extraction accuracy in the existing technology when extracting ship side wave-making features, and to achieve comprehensive, rapid and accurate extraction of ship side wave-making features.

[0005] The embodiment of the application provides a method for extracting ship side wave-making features based on radar data, the method comprising:

[0006] Acquire the target ship's side wave data obtained by radar and the target ship's motion parameters obtained by multiple sensors, where the motion parameters include: the target ship's motion attitude, elastic deformation, and dynamic response;

[0007] Extracting the initial wave-making data corresponding to the target position from the side wave-making data;

[0008] Inputting the motion parameters and the initial wave-making data into a data correction mathematical model to obtain target wave-making data output by the data correction mathematical model;

[0009] A wave-making curve is created with the timestamp as the horizontal coordinate and the target wave-making data as the vertical coordinate, and the side wave-making characteristics are extracted based on the wave-making curve.

[0010] According to the method for extracting ship side wave-making features based on radar data provided in an embodiment of the present application, the data correction mathematical model includes:

[0011]

[0012] Among them, x represents the target position, h final (x, t) represents the target wave data at time t, h radar (x) represents the initial wave data, R n represents the ship attitude matrix, C raw (x) represents the coordinate of the initial wave data, δ i (x, t) represents the elastic deformation of the target ship at the i-th target position at time t, N represents the total number of target positions, η represents the transmission efficiency of the target ship, which is a constant, and P represents the propulsion power of the target ship;

[0013] Among them, the motion attitude includes the ship attitude matrix, and the dynamic response includes: transmission efficiency and propulsion power.

[0014] According to the ship side wave feature extraction method based on radar data provided by the embodiment of the present application, R n =R x (θ x )·R y (θ y )·R z (θ z );

[0015] Among them, a spatial rectangular coordinate system is created with the center of the target ship as the coordinate origin, R x (θ x ) represents the rotation matrix of the X axis, R y (θ y ) represents the rotation matrix of the Y axis, R z (θ z ) represents the rotation matrix of the Z axis;

[0016] in,

[0017] Among them, θ x Indicates the rotation angle on the X axis, θ y Indicates the rotation angle on the Y axis, θ z Indicates the rotation angle on the Z axis.

[0018] According to the ship side wave-making feature extraction method based on radar data provided by an embodiment of the present application, elastic deformation includes vertical deformation, lateral deformation and longitudinal deformation;

[0019] The vertical deformation includes:

[0020]

[0021] Among them, δ z(x, t) represents vertical deformation, M is a preset constant, α j represents the amplitude of the j-th mode, L represents the length of the target ship, ω j represents the jth order natural frequency, φ j represents the j-th order constant term offset;

[0022] Among them, lateral deformation includes:

[0023] δ x (x, t) = k1·δ z (x,t);

[0024] Wherein, k1 represents the lateral correction coefficient;

[0025] Among them, longitudinal deformation includes:

[0026] δ y (x, t) = k2·δ z (x,t);

[0027] Wherein, k2 represents the longitudinal correction coefficient.

[0028] According to the method for extracting ship side wave features based on radar data provided by the embodiment of the present application,

[0029]

[0030] Where n represents the spindle speed and T represents the spindle torque.

[0031] According to the method for extracting ship side wave features based on radar data provided by an embodiment of the present application, before obtaining the target ship side wave data obtained based on radar, the method further includes:

[0032] Get the current ship speed;

[0033] Based on the correspondence between the ship speed and the data acquisition frequency, the data acquisition target frequency corresponding to the current ship speed is determined so that the radar can collect the side wave data based on the data acquisition target frequency.

[0034] According to the method for extracting ship side wave features based on radar data provided in an embodiment of the present application, the ship speed is proportional to the data acquisition frequency.

[0035] According to the method for extracting ship side wave-making features based on radar data provided by an embodiment of the present application, the initial wave-making data includes: initial wave-making height;

[0036] Extract the initial wave-making data corresponding to the target position from the side wave-making data, including:

[0037] Determine the time difference between the radar's transmitted and received signals based on the side wave data;

[0038] determining the distance between the wave and the radar based on the time difference;

[0039] Based on the distance, a distance difference between a crest and a trough of the generated wave is determined, and the distance difference is determined as an initial wave height.

[0040] 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 any of the above methods for extracting ship side wave-making features based on radar data are implemented.

[0041] An embodiment of the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for extracting ship side wave-making features based on radar data as described above are implemented.

[0042] The embodiments of the present application provide a method, device, and medium for extracting ship side wave-making features based on radar data. The method, device, and medium obtain the target ship's side wave-making data obtained by radar and the target ship's motion parameters obtained by multiple sensors, wherein the motion parameters include: the target ship's motion posture, elastic deformation, and dynamic response; extract the initial wave-making data corresponding to the target position from the side wave-making data; input the motion parameters and the initial wave-making data into a data correction mathematical model to obtain target wave-making data output by the data correction mathematical model. The present application uses the motion parameters to correct the initial wave-making data through the data correction mathematical model to quickly and accurately obtain the target wave-making data; further, a wave-making curve is created with the timestamp as the horizontal coordinate and the target wave-making data as the vertical coordinate, and the side wave-making features are extracted based on the wave-making curve, thereby achieving comprehensive, rapid, and accurate extraction of the ship's side wave-making features. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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.

[0044] Figure 1 This is one of the flow charts of the method for extracting ship side wave-making features based on radar data provided in an embodiment of the present application;

[0045] Figure 2 This is a schematic diagram of the installation locations of various devices provided in the embodiments of the present application;

[0046] Figure 3 This is the second flow chart of the method for extracting ship side wave-making features based on radar data provided in an embodiment of the present application;

[0047] Figure 4 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying 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 making creative efforts are within the scope of protection of the present invention.

[0049] The embodiment of the present application provides a method for extracting the characteristics of ship side wave-making based on radar data. The method can be applied to smart terminals, servers, and ship controllers. The present application uses the method applied to a ship controller as an example for illustration. This is for illustration only and is not intended to limit the scope of protection of the present application. Some other descriptions in the embodiments are also for illustration only and will not be described one by one later. Figure 1 As shown, the method includes:

[0050] Step 101: Acquire the target ship's side wave-making data obtained by radar and the target ship's motion parameters obtained by various sensors.

[0051] The motion parameters include: motion posture, elastic deformation and dynamic response of the target ship.

[0052] Among them, the motion posture includes six-degree-of-freedom posture.

[0053] Step 102: extracting initial wave-making data corresponding to the target position from the side wave-making data.

[0054] Among them, one or more target positions are set in advance in the target ship. The number of target positions and the specific positions of the target positions can be set by the user based on his or her actual needs, and this application does not impose any restrictions.

[0055] The initial wave-making data includes an initial wave-making curve.

[0056] Step 103: Input the motion parameters and the initial wave-making data into a data correction mathematical model to obtain target wave-making data output by the data correction mathematical model.

[0057] Among them, the data correction mathematical model includes the hull six-degree-of-freedom attitude compensation correction, the hull elastic deformation correction and the hull dynamic response compensation correction.

[0058] Step 104 : Create a wave-making curve with the timestamp as the horizontal coordinate and the target wave-making data as the vertical coordinate, and extract the broadside wave-making features based on the wave-making curve.

[0059] Among them, the target wave-making data includes the target wave-making height.

[0060] Specifically, the initial wave data is obtained based on radar measurements, and the target wave data is obtained by correcting the initial wave data. The initial wave data changes with the timestamp, that is, it is dynamic, and the corresponding target wave data also changes accordingly.

[0061] The embodiment of the present application provides a method for extracting ship side wave-making features based on radar data. The method obtains the side wave-making data of the target ship obtained by radar and the motion parameters of the target ship obtained by multiple sensors, wherein the motion parameters include: the motion posture, elastic deformation and dynamic response of the target ship; extracts initial wave-making data corresponding to the target position from the side wave-making data; inputs the motion parameters and the initial wave-making data into a data correction mathematical model to obtain target wave-making data output by the data correction mathematical model. The present application uses the motion parameters to correct the initial wave-making data through the data correction mathematical model to quickly and accurately obtain the target wave-making data; further, a wave-making curve is created with the timestamp as the horizontal coordinate and the target wave-making data as the vertical coordinate, and the side wave-making features are extracted based on the wave-making curve, thereby achieving comprehensive, rapid and accurate extraction of the ship side wave-making features.

[0062] Specifically, the changes in a ship's six-degree-of-freedom motion during navigation, the elastic deformation of the hull itself, and the dynamic response of the power system all affect the broadside wave-making characteristics. Therefore, this application fully considers radar data and sensor data, and considers the coupling relationship between these factors to modify the initial wave-making characteristics. This allows for the precise extraction of the ship's broadside wave-making characteristics, providing accurate data support for ship design optimization, performance evaluation, and hydrodynamic research.

[0063] Specifically, the collection of sensor data (including motion parameters) includes:

[0064] Sensor selection and layout: Based on the ship design drawings, sensors such as acceleration sensors, combined inertial navigation equipment, torque sensors, and speed sensors should be reasonably arranged at key locations of the ship, such as the bow, midship, stern, and engine room main shaft.

[0065] Among them, the acceleration sensor is used to measure the acceleration of the ship in the longitudinal, lateral and vertical directions; the combined inertial navigation equipment is used to obtain the angular velocity of the ship in the three directions and the main shaft torque T and main shaft speed n of the ship's main shaft during navigation.

[0066] During navigation, each sensor collects data in real time at a set sampling frequency. The accelerometer collects acceleration data from various parts of the ship in the x, y, and z directions at a 100Hz frequency. The inertial navigation system collects angular velocity data at a corresponding frequency. The speed sensor and torque sensor collect real-time data based on the rotation of the main shaft. The collected data is converted into digital signals by the sensor's internal analog-to-digital conversion module and then transmitted to the ship's data processing center via network communication.

[0067] Specifically, after acquiring sensor data, it undergoes preprocessing. Upon receiving data from various sensors, the data processing center first filters the data to remove noise. Acceleration and inertial navigation data are decoded according to the corresponding data protocols, extracting the required x, y, and z-direction acceleration data for the bow, midship, and stern, as well as the corresponding angular velocity of the hull. For speed and torque sensor data, Kalman filtering is used based on the force variation characteristics to remove outliers caused by external interference or sensor fluctuations.

[0068] The sensors need to be installed on stable and reliable beams on the ship to ensure that the sensors can comprehensively and accurately collect the motion and power data of the ship under various navigation conditions.

[0069] Specifically, after the sensor is installed, it needs to be calibrated using high-precision calibration equipment. For accelerometers, the accelerometer is placed in a standard gravity field environment. Using the known characteristics of gravity acceleration, the zero deviation and sensitivity coefficient of the accelerometer are calibrated by repeatedly measuring the gravity acceleration components in different directions. For combined inertial navigation units, the ISO17025 calibration method can be used. The detailed test content is not repeated here. The calibration of torque sensors can be done by applying a static load to record the sensor output voltage or signal value to obtain the relationship between the load and output value, and then correcting the nonlinear error by applying a variable torque. The speed sensor can also be calibrated by measuring the standard speed to determine the corresponding relationship between the sensor's pulse output frequency and the actual speed.

[0070] Data acquisition and transmission: The sensor collects data in real time at a set acquisition frequency and transmits it to the host processor via a network cable, providing raw data support for subsequent analysis and processing.

[0071] Specifically, motion parameters are acquired based on sensor data, such as the target ship's heave, motion posture, elastic deformation, and dynamic response, including draft data, bow, mid-stern acceleration, angular velocity data, main shaft speed, and main shaft torque.

[0072] Radar installation and debugging:

[0073] The radar equipment is installed at a suitable location on the side of the target ship. The selection of this location requires comprehensive consideration of numerous factors. First, the radar beam must fully and clearly cover the wave-generating area to be measured, avoiding obstruction of beam propagation and reflected wave reception by hull structural components. Second, the effects of ship vibration and water currents on radar stability must be fully considered. The radar's installation angle must be precisely adjusted so that the radar beam covers the wave-generating area and forms a suitable angle with the ship's direction of travel to obtain optimal wave detection data.

[0074] Radar parameter debugging: Transmitting frequency adjustment: After installation, the radar's transmitting frequency needs to be debugged. Different transmitting frequencies have different characteristics when detecting waves. The appropriate transmitting frequency is set based on the resolution requirements for the image display of the wave feature data extraction.

[0075] Beam width and scan angle optimization: The beam width needs to be adjusted according to the size and shape of the wave-making area. The scan angle should be set appropriately to ensure that the radar scan covers the wave-making area on the side as comprehensively as possible, avoiding detection blind spots.

[0076] Specifically, the collection of radar data (including broadside wave-making data) includes:

[0077] The radar transmits microwave signals and obtains the side wave-making data by receiving the signals reflected back from the waves.

[0078] Specifically, each sensor and radar uses the ship's clock synchronization equipment for unified time synchronization and marks the UTC timestamp.

[0079] The installation positions of the radar and sensors are schematically illustrated using the ship's front view. Figure 2 .exist Figure 1 In the figure, 201 represents a radar, 202 represents a combined inertial navigation device, 203 represents an acceleration sensor, and 204 represents a rotation speed and torque sensor.

[0080] In a specific embodiment, the current ship speed is obtained before obtaining the side wave-making data of the target ship obtained based on the radar; based on the correspondence between the ship speed and the data acquisition frequency, the data acquisition target frequency corresponding to the current ship speed is determined, so that the radar collects the side wave-making data based on the data acquisition target frequency.

[0081] In a specific embodiment, the ship speed is proportional to the data collection frequency, that is, the faster the ship speed, the higher the data collection frequency, and the slower the ship speed, the lower the data collection frequency.

[0082] Specifically, the radar's data acquisition frequency is set accordingly based on the ship's speed and the dynamic characteristics of the waves. When the ship is moving faster, the waves change more rapidly, so a higher data acquisition frequency is required to capture the dynamic details of the waves and obtain relevant information. When the ship is moving slower, the waves change more slowly, so the data acquisition frequency can be appropriately reduced to ensure that valid data is obtained while reducing the data volume and the data processing burden.

[0083] This application determines the correspondence between the ship speed and the data collection frequency in advance based on the wave information, so as to determine the data collection target frequency based on the correspondence.

[0084] In a specific embodiment, the initial wave making data includes: initial wave making height.

[0085] The specific implementation of extracting the initial wave-making data corresponding to the target position from the side wave-making data is as follows: Figure 3 As shown:

[0086] Step 301: Determine the time difference between the radar's transmitted signal and received signal based on the side wave data.

[0087] Step 302: Determine the distance between the wave generator and the radar based on the time difference.

[0088] Step 303: Based on the distance, determine the distance difference between the crest and the trough of the wave, and determine the distance difference as the initial wave height.

[0089] Specifically, the time difference between the transmitted and received signals is measured to determine the distance between the wave and the radar. The wave's location is then determined by combining the radar's beam pointing information. The Doppler effect is used to analyze the frequency variation of the reflected wave to determine the wave's radial velocity. Based on the ship's speed and the wave's characteristics, appropriate radar operating parameters, such as the transmit frequency, pulse repetition frequency, scanning angle, and scanning period, are set to ensure comprehensive and timely acquisition of dynamic wave data.

[0090] Specifically, the broadside wave-making data is filtered and calibrated to remove noise and improve measurement accuracy. The distance difference between the crest and trough of the wave is then determined based on the processed broadside wave-making data, and this distance difference is used as the initial wave-making height. Furthermore, the initial wave-making height data points measured at different times are connected, with the timestamp as the horizontal axis and the wave-making height as the vertical axis, to generate an initial wave-making curve.

[0091] In a specific embodiment, the data correction mathematical model is shown in formula (1):

[0092]

[0093] Among them, x represents the target position, h final (x, t) represents the target wave data at time t, h radar (h) represents the initial wave data, R n represents the ship attitude matrix, C raw (x) represents the coordinate of the initial wave data, δ i (x, t) represents the elastic deformation of the target ship at the i-th target position at time t, N represents the total number of target positions, η represents the transmission efficiency of the target ship, which is a constant, and P represents the propulsion power of the target ship.

[0094] Among them, the motion attitude includes the ship attitude matrix, and the dynamic response includes: transmission efficiency and propulsion power.

[0095] In a specific embodiment, the ship attitude matrix calculation formula is shown in formula (2):

[0096] R n =R x (θ x )·R y (θ y )·R z (θ z )…………(2)

[0097] Among them, a spatial rectangular coordinate system is created with the center of the target ship as the coordinate origin, R x (θ x ) represents the rotation matrix of the X axis, R y (θ y ) represents the rotation matrix of the Y axis, R z (θ z ) represents the rotation matrix of the Z axis.

[0098] in,

[0099] Among them, θ x Indicates the rotation angle on the X axis, θ y Indicates the rotation angle on the Y axis, θ z Indicates the rotation angle on the Z axis.

[0100] The ship attitude matrix includes a six-degree-of-freedom attitude matrix, and attitude compensation is performed specifically based on the six-degree-of-freedom attitude matrix.

[0101] in,

[0102] Among them, a x represents the acceleration on the X axis, a y represents the acceleration on the Y axis, a z Indicates the acceleration on the Z axis.

[0103] Specifically, the ship attitude matrix corresponding to the current moment can be calculated by the ship attitude calculation formula (2). The ship attitude matrix at the current moment can also be obtained by the acceleration and angular velocity at the current moment and the ship attitude matrix at the previous moment.

[0104] Specifically, the ship's attitude matrix is first initialized to obtain the initial ship attitude matrix. At the initial moment of the ship's voyage, the initial acceleration of the accelerometer and the initial angular velocity of the integrated inertial navigation system are obtained. Based on this, the ship's initial attitude is estimated, and the initial rotation angle and initial rotation matrix are calculated. Of course, the timestamp corresponding to the initial moment must be recorded.

[0105] During the navigation process of the ship, the ship attitude matrix of the previous moment is updated according to the acceleration obtained by the acceleration sensor and the angular velocity obtained by the combined inertial navigation to obtain the ship attitude matrix of the current moment.

[0106] In a specific embodiment, the elastic deformation includes vertical deformation, lateral deformation and longitudinal deformation.

[0107] The vertical deformation is given by formula (3):

[0108]

[0109] Among them, δ z (x, t) represents vertical deformation, M is a preset constant, α j represents the amplitude of the j-th mode, L represents the length of the target ship, ω j represents the jth order natural frequency, φ j Indicates the j-th order constant term offset.

[0110] The lateral deformation is given by formula (4):

[0111] δ x (x, t) = k1·δ z (x,t)………………………………(4)

[0112] Wherein, k1 represents the lateral correction coefficient.

[0113] The longitudinal deformation is given by formula (5):

[0114] δ y (x, t) = k2·δz (x,t)…………………………(5)

[0115] Wherein, k2 represents the longitudinal correction coefficient.

[0116] Specifically, since elastic deformation will cause the wave-making position to shift, the elastic deformation can be calculated using the elastic deformation formula, formula (3), formula (4), and formula (5) above, to correct the wave-making characteristics and ensure the accuracy of the wave-making characteristics.

[0117] In a specific embodiment, the dynamic response correction calculation formula is shown in formula (6):

[0118]

[0119] Where n represents the spindle speed and T represents the spindle torque.

[0120] Specifically, the present application performs dynamic response compensation based on a dynamic response correction calculation formula to correct the wave-making characteristics, eliminate the wave-making characteristic deviation caused by the dynamic response, and ensure the accuracy of the wave-making characteristics.

[0121] In a specific embodiment, after obtaining the initial wave-making data, vertical translation correction can be performed by subtracting the heave value of the target ship, and the corrected initial wave-making data is input into the data correction mathematical model.

[0122] Among them, the heave value is obtained through sensor measurement combined with data processing. The acceleration sensor is used to collect the vertical acceleration data of each measuring point of the ship in real time. After eliminating the motion interference of roll, the vertical displacement of the ship's heave motion can be separated by taking the average of the measuring points.

[0123] In a specific embodiment, the specific implementation of obtaining the broadside wave-making characteristics based on the wave-making curve extraction includes:

[0124] Extract the wave height at the target location from the wave curve.

[0125] This application combines radar and multiple sensors, fully utilizing radar data to obtain wave-making data. This data is then corrected using sensor data, enabling a more comprehensive and accurate reflection of the wave-making characteristics measured at the ship's side. Throughout this process, by introducing degree-of-freedom attitude compensation algorithms, elastic deformation correction algorithms, and dynamic response compensation algorithms, the effects of the ship's motion, hull deformation, and dynamic response on wave-making feature extraction are fully considered, improving the accuracy and reliability of wave-making feature extraction.

[0126] In addition, the present application does not depend on a specific ship type or size. Through the reasonable arrangement of radars and sensors, it can be widely used in various ships and has strong adaptability and versatility.

[0127] Figure 4 An example of a physical structure diagram of an electronic device is shown below. Figure 4 As shown, the electronic device may include: a processor 401, a communication interface 402, a memory 403, and a communication bus 404. The processor 401, the communication interface 402, and the memory 403 communicate with each other via the communication bus 404. The processor 401 may call logic instructions in the memory 403 to execute a method for extracting ship side wave-making features based on radar data.

[0128] 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 sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling 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.

[0129] 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 side wave-making feature extraction method based on radar data provided by the above methods.

[0130] 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 side wave-making feature extraction method based on radar data provided in the above-mentioned embodiments.

[0131] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0132] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling 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 certain parts of the embodiments.

[0133] Finally, it should be noted that the above description is merely a preferred embodiment of the present application and the present application is not limited to the above embodiments. It is understood that other improvements and variations directly derived or conceived by those skilled in the art without departing from the spirit and concept of the present application should be considered to be included within the scope of protection of the present application.

Claims

1. A method for extracting ship side wave features based on radar data, characterized in that: The method comprises: Acquire the target ship's side wave data obtained by radar and the target ship's motion parameters obtained by multiple sensors, where the motion parameters include: the target ship's motion attitude, elastic deformation, and dynamic response; Extracting the initial wave-making data corresponding to the target position from the side wave-making data; Inputting the motion parameters and the initial wave-making data into a data correction mathematical model to obtain target wave-making data output by the data correction mathematical model; A wave-making curve is created with the timestamp as the horizontal coordinate and the target wave-making data as the vertical coordinate, and the side wave-making characteristics are extracted based on the wave-making curve.

2. The method for extracting ship side wave characteristics based on radar data according to claim 1 is characterized in that: Data correction mathematical models, including: Among them, x represents the target position, h final (x, t) represents the target wave data at time t, h radar (x) represents the initial wave data, R n represents the ship attitude matrix, C raw (x) represents the coordinate of the initial wave data, δ i (x, t) represents the elastic deformation of the target ship at the i-th target position at time t, N represents the total number of target positions, η represents the transmission efficiency of the target ship, which is a constant, and P represents the propulsion power of the target ship; Among them, the motion attitude includes the ship attitude matrix, and the dynamic response includes: transmission efficiency and propulsion power.

3. The method for extracting ship side wave features based on radar data according to claim 2, characterized in that: R n =R x (i x )·R y (i y ) z (i z ); Among them, a spatial rectangular coordinate system is created with the center of the target ship as the coordinate origin, R x (θ x ) represents the rotation matrix of the X axis, R y (θ y ) represents the rotation matrix of the Y axis, R z (θ z ) represents the rotation matrix of the Z axis; in, Among them, θ x Indicates the rotation angle on the X axis, θ y Indicates the rotation angle on the Y axis, θ z Indicates the rotation angle on the Z axis.

4. The method for extracting ship side wave features based on radar data according to claim 2, characterized in that: Elastic deformation includes vertical deformation, lateral deformation and longitudinal deformation; The vertical deformation includes: Among them, δ z (x, t) represents vertical deformation, M is a preset constant, α j represents the amplitude of the j-th mode, L represents the length of the target ship, ω j represents the jth order natural frequency, φ j Expressed as the j-th order constant term offset; Among them, lateral deformation includes: d x (x,t)=k1·δ z (x,t); Wherein, k1 represents the lateral correction coefficient; Among them, longitudinal deformation includes: δ y (x,t)=k2·δ z (x,t); Wherein, k2 represents the longitudinal correction coefficient.

5. The method for extracting ship side wave features based on radar data according to claim 2, characterized in that: Where n represents the spindle speed and T represents the spindle torque.

6. The method for extracting ship side wave characteristics based on radar data according to any one of claims 1 to 5, characterized in that: Before obtaining the target ship's side wave data obtained by radar, the following steps are also included: Get the current ship speed; Based on the correspondence between the ship speed and the data acquisition frequency, the data acquisition target frequency corresponding to the current ship speed is determined so that the radar can collect the side wave data based on the data acquisition target frequency.

7. The method for extracting ship side wave features based on radar data according to claim 6, characterized in that: The ship speed is proportional to the data collection frequency.

8. The method for extracting ship side wave characteristics based on radar data according to any one of claims 1 to 5, characterized in that: Initial wave-making data include: initial wave-making height; Extract the initial wave-making data corresponding to the target position from the side wave-making data, including: Determine the time difference between the radar's transmitted and received signals based on the side wave data; determining the distance between the wave and the radar based on the time difference; Based on the distance, a distance difference between a crest and a trough of the generated wave is determined, and the distance difference is determined as an initial wave height.

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 method for extracting ship side wave-making features based on radar data 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 method for extracting ship side wave-making features based on radar data as described in any one of claims 1 to 8 are implemented.

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