Multi-navigation model construction and selection method, system, device, product and medium

Abstract

The present application relates to the field of ship navigation, and provides a multi-navigation model construction and selection method, system, device, product and medium, comprising determining a navigation interface according to a navigation device, determining navigation model design constraints; associating device interaction objects with model use cases to obtain model steps, analyzing the model steps to obtain interface requirements, selecting available interfaces to add to the model steps and establishing model connections to obtain an initial first navigation model, modifying the initial first navigation model to obtain a first navigation model; establishing a navigation device unit according to an upper layer framework and interface attributes, obtaining a second navigation model through the navigation device unit and navigation parameter requirements; determining parameter calculation formulas, selecting a target navigation device and connecting the target navigation device through a navigation interface to obtain a third navigation model; and obtaining a target navigation model through comprehensive score calculation by means of a trade-off matrix, wherein the present application can provide navigation data through the target navigation model.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship navigation, in particular to a multi-navigation model construction and selection method, system, device, product and medium. BACKGROUND

[0002] As the "nerve center" of ship navigation, the navigation system shoulders the core mission of acquiring key navigation parameters such as position, speed, heading, time through measurement, and accurately guiding the ship to sail along the predetermined route safely and efficiently. In the fields of ocean transportation and ocean exploration, its performance directly determines the task execution ability and survival guarantee level of the ship. However, with the continuous upgrading of ship function requirements, the equipment scale of the navigation system is expanding at an unprecedented speed, and its complexity is also growing geometrically. This complexity is reflected in multiple dimensions: from the composition of subsystems, modern navigation systems have developed from early single inertial navigation to integrated systems that combine inertial navigation, satellite navigation, celestial navigation, underwater navigation and other multi-source heterogeneous technologies. The number of subsystems has increased from several to dozens, and the signal interaction and data fusion logic between systems have become more sophisticated. From the functional level, in addition to basic navigation, the system also needs to have complex capabilities such as anti-interference, redundancy backup, dynamic path planning, and multi-sensor collaborative calibration to adapt to extreme environments such as deep sea, polar regions, and strong electromagnetic interference.

[0003] For a long time, the traditional navigation system design generally adopts a document-based design method. This mode can meet the requirements when the system scale is small, but under the current complex system background, its inherent limitations are increasingly prominent. On the one hand, there is a clear gap between overall design and subsystem design, and on the other hand, the lack of early collaborative verification means will lead to the feasibility verification of the design scheme relying on experience and judgment and later prototype testing, making it difficult to digitally check the system function and performance in the early stage of design. For example, if the error compensation logic of a navigation algorithm in complex sea conditions is not reasonable, it will not be exposed until the ship trial, at which time not only the algorithm needs to be redesigned, but also the adaptability of the subsystem hardware may need to be modified, significantly prolonging the development cycle. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art. To this end, the present application provides a multi-navigation model construction and selection method, system, device, product and medium, which realizes a navigation model with high precision, balanced performance and good economy for ship navigation.

[0005] The present application provides a multi-navigation model construction and selection method, comprising:

[0006] S1: determining a navigation device, determining a navigation interface according to the navigation device, and determining a navigation model design constraint;

[0007] S2: determine a device interaction object, create a model case, associate the device interaction object with the model case, obtain a model step, analyze the model step to obtain an interface requirement, select an available interface from the navigation interface according to the interface requirement, add the available interface to the model step, and establish a model connection to obtain an initial first navigation model, modify the initial first navigation model according to a navigation model design constraint to obtain a first navigation model;

[0008] S3: analyze the navigation device to obtain an upper layer framework, determine an interface attribute according to the navigation interface, establish a navigation device unit according to the upper layer framework and the interface attribute, determine a navigation parameter requirement from the navigation model design constraint and establish an initial second navigation model through the navigation device unit and the navigation parameter requirement, and modify the initial second navigation model to obtain a second navigation model;

[0009] S4: determine a parameter calculation formula according to the navigation parameter requirement, select a target navigation device from the navigation device according to the parameter calculation formula and connect the target navigation device through the navigation interface to obtain an initial third navigation model, and modify the initial third navigation model to obtain a third navigation model;

[0010] S5: establish a trade-off matrix, perform comprehensive score calculation on the first navigation model, the second navigation model and the third navigation model through the trade-off matrix to obtain a target navigation model, and provide navigation data through the target navigation model.

[0011] According to the multi-navigation model construction and selection method provided by the application, in step S1, the navigation model design constraint includes a model design hard constraint and a model design soft constraint, wherein the model design hard constraint includes an accuracy constraint and a reaction time constraint, and the model design soft constraint includes an economic constraint and a system complexity constraint.

[0012] According to the multi-navigation model construction and selection method provided by the application, step S2 further includes:

[0013] S21: determine the device interaction object, determine a navigation requirement, create the model case according to the navigation requirement, perform model step back propagation through the model case to obtain an initial model step, and fuse the device interaction object and the initial model step to obtain the model step;

[0014] S22: extract an interaction object from the model step, determine an interface requirement of the interaction object, select an available interface from the navigation interface according to the interface requirement and add the available interface to the interaction object, connect the interaction object through the available interface to establish a model connection and obtain an initial first navigation model;

[0015] S23: checking the initial first navigation model according to the navigation model design constraint, and modifying and selecting the initial first navigation model according to a checking result to obtain the first navigation model.

[0016] According to the multi-navigation model construction and selection method provided by the application, step S3 further comprises:

[0017] S31: selecting a model architecture, analyzing the navigation device through the model architecture to obtain the upper layer framework, and determining the interface attribute according to the input parameter and the output parameter of the navigation interface;

[0018] S32: obtaining the navigation device unit through the interface attribute, the navigation device and the upper layer framework, determining the navigation parameter requirement from the navigation model design constraint, selecting and connecting the navigation device unit according to the navigation parameter requirement to obtain the initial second navigation model;

[0019] S33: checking the initial second navigation model according to the navigation model design constraint, and modifying and selecting the initial second navigation model to obtain the second navigation model.

[0020] According to the multi-navigation model construction and selection method provided by the application, step S4 further comprises:

[0021] S41: determining the navigation parameter requirement from the navigation model design constraint, and analyzing the navigation parameter requirement to obtain the parameter calculation formula;

[0022] S42: selecting a target navigation device from the navigation device according to the parameter calculation formula and connecting the target navigation device through a navigation interface to obtain the initial third navigation model, calculating a third model error through the parameter calculation formula and the initial third navigation model, modifying the initial third navigation model according to the navigation model design constraint and the third model error to obtain a third navigation model.

[0023] According to the multi-navigation model construction and selection method provided by the application, step S5 further comprises:

[0024] S51: analyzing the navigation model design constraint to obtain a navigation model requirement, and establishing the trade-off matrix according to the navigation model requirement;

[0025] S52: normalizing the trade-off matrix to obtain a weight coefficient, calculating model scores of the first navigation model, the second navigation model and the third navigation model, performing the comprehensive score calculation through the model scores and the weight coefficient to obtain a target navigation model, and providing navigation data through the target navigation model.

[0026] The application further provides a multi-navigation model construction and selection system, comprising:

[0027] A navigation device module is configured to determine a navigation device, determine a navigation interface according to the navigation device, and determine a navigation model design constraint;

[0028] A first navigation model module is configured to determine a device interaction object, create a model use case, associate the device interaction object with the model use case, obtain a model step, analyze the model step to obtain an interface requirement, select an available interface from the navigation interface according to the interface requirement, add the available interface to the model step, and establish a model connection to obtain an initial first navigation model, modify the initial first navigation model according to the navigation model design constraint, and obtain a first navigation model;

[0029] A second navigation model module is configured to analyze the navigation device to obtain an upper layer framework, determine an interface attribute according to the navigation interface, establish a navigation device unit according to the upper layer framework and the interface attribute, determine a navigation parameter requirement from the navigation model design constraint, and establish an initial second navigation model through the navigation device unit and the navigation parameter requirement, and modify the initial second navigation model to obtain a second navigation model;

[0030] A third navigation model module is configured to determine a parameter calculation formula according to the navigation parameter requirement, select a target navigation device from the navigation device according to the parameter calculation formula, and connect the target navigation device through the navigation interface to obtain an initial third navigation model, and modify the initial third navigation model to obtain a third navigation model;

[0031] A navigation model selection module is configured to establish a trade-off matrix, perform comprehensive score calculation on the first navigation model, the second navigation model, and the third navigation model through the trade-off matrix to obtain a target navigation model, and provide navigation data through the target navigation model.

[0032] The application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the multi-navigation model construction and selection method according to any one of the above when executing the computer program.

[0033] The application further provides a non-transitory computer readable storage medium, which stores a computer program, wherein the computer program is executable on a processor to implement the steps of the multi-navigation model construction and selection method according to any one of the above.

[0034] The application further provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, and the computer program comprises program instructions executable on a computer to implement the steps of the multi-navigation model construction and selection method according to any one of the above.

[0035] The one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0036] The multi-navigation model construction and selection method, system, device, product and medium provided by the present application can automatically construct navigation models meeting the constraint condition requirements from different angles such as upper frame, parameter calculation formula and model steps, so as to obtain navigation models from different angles. After obtaining the navigation models, the navigation models can be further scored and calculated, so that the most suitable navigation model can be selected according to the performance needs. In this way, the defects of the navigation model can be found in the design stage, and the model can be constructed from different angles, so that the best navigation model can be obtained.

[0037] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0039] Figure 1 is a flowchart of the multi-navigation model construction and selection method provided by the present application.

[0040] Figure 2 is a structure diagram of the multi-navigation model construction and selection system provided by the present application.

[0041] Figure 3 is a structure diagram of the multi-navigation model construction and selection device provided by the present application.

[0042] Reference signs:

[0043] 100, navigation device module; 200, first navigation model module; 300, second navigation model module; 400, third navigation model module; 500, navigation model selection module; 810, processor; 820, communication interface; 830, memory; 840, communication bus. DETAILED DESCRIPTION

[0044] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the present application. The following embodiments are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0045] In the description of the embodiments of the present application, it should be noted that the terms "first", "second", "third" are only used for description purpose, and cannot be understood as indicating or implying relative importance.

[0046] In the description of the embodiments of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0047] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are contained in at least one embodiment or example of the embodiments of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of different embodiments or examples without contradiction.

[0048] The specific embodiments of the present application will be described below in combination with Figures 1 to 3 The specific embodiments of the present application will be described below in combination with Figure 1 The flowchart of the multi-navigation model construction and selection method provided by the present application is shown in the embodiment. The specific implementation manner in the embodiment is as follows:

[0049] S1: determining a navigation device, determining a navigation interface according to the navigation device, and determining a navigation model design constraint;

[0050] Further, the purpose of this stage is to determine the navigation interface and the navigation model design constraints according to the navigation equipment. Specifically, in step S1, the navigation model design constraints include model design hard constraints and model design soft constraints, wherein the model design hard constraints include precision constraints and reaction time constraints, and the model design soft constraints include economic constraints and system complexity constraints.

[0051] For the above steps, the specific implementation in this embodiment is as follows:

[0052] First, it is necessary to determine the navigation equipment that the ship may need to carry, which includes a magnetic compass, a log, a satellite navigation device, an inertial navigation device, etc. In addition, there are data processing equipment for data exchange, integration and processing between devices, and interactive equipment for interaction with users. Then, the navigation interface is determined according to the navigation equipment, that is, the interface available to the navigation equipment.

[0053] The model design hard constraints include precision constraints and reaction time constraints. The precision constraint is that the precision of the navigation model must be less than the maximum navigation error determined according to the navigation requirements. The reaction time constraint is that the reaction time of the navigation model must be less than the maximum reaction time determined according to experience. In addition to the above, the model design hard constraints can also include the format of data, hard requirements for functions, redundancy of the navigation model, etc. The model design soft constraints include economic constraints and system complexity constraints. The economic constraint is to prefer a navigation model with lower cost, that is, better economic performance, among multiple navigation models with similar performance. The system complexity constraint is to prefer a navigation model with a simpler structure and lower system complexity among multiple navigation models with similar performance.

[0054] S2: determining a device interaction object, creating a model use case, associating the device interaction object with the model use case to obtain a model step, analyzing the model step to obtain an interface requirement, selecting an available interface from the navigation interface according to the interface requirement and adding it to the model step to establish a model connection, obtaining an initial first navigation model, modifying the initial first navigation model according to the navigation model design constraints, and obtaining a first navigation model;

[0055] Further, the purpose of this stage is to associate the interaction object with the model use case to obtain a model step, thereby obtaining an initial first navigation model and performing tracing and modification to obtain a first navigation model. Specifically, step S2 further includes:

[0056] S21: determining the device interaction object, determining a navigation requirement, creating the model use case according to the navigation requirement, performing model step backtracking through the model use case to obtain an initial model step, and fusing the device interaction object and the initial model step to obtain the model step;

[0057] S22: extracting an interactive object from the model step, determining an interface requirement of the interactive object, selecting an available interface from the navigation interface according to the interface requirement and adding the available interface to the interactive object, connecting the interactive objects through the available interface, thereby establishing a model connection to obtain an initial first navigation model;

[0058] S23: checking the initial first navigation model according to the navigation model design constraint, and modifying and selecting the initial first navigation model according to the checking result to obtain the first navigation model.

[0059] For the above steps, the specific steps in the embodiment are as follows:

[0060] First, the device interactive object of each navigation device needs to be determined, that is, which data or object each navigation device will interact with, for example, the device interactive object of a satellite navigation device is a satellite navigation signal and a data processor for processing the satellite navigation signal. Then the navigation requirement is determined, that is, which sub-tasks need to be completed to complete the navigation task, for example, the sub-tasks here can include real-time positioning, path planning, deviation alarm, etc., in addition, the sub-tasks can also include processing procedures when data is invalid or cannot be obtained. Then the model use case is created for the navigation requirement, that is, the output after the sub-tasks of the navigation requirement are completed, the initial model step can be obtained by referring to the existing model through model use case reverse deduction, for example, the initial model step for path planning is: user input start point and end point → call data of navigation device → call algorithm calculation → output path. When generating the initial model step, some steps for improving system reaction speed can also be added, such as data preprocessing and pre-computation of data with large computation amount. Then the device interactive object and the initial model step are fused, that is, the input and output of each step in the initial model step are determined to determine the step interactive object, and the navigation devices and other devices that each step may use are preliminarily determined according to the step interactive object and the device interactive object, thereby obtaining the model step.

[0061] Then the interactive object is extracted from the model step, that is, a certain device is selected for the step from the navigation devices and other devices that may be used for the step, and it is determined which objects the device will interact with, thereby determining which interfaces the device needs, selecting an available interface from the navigation interface according to the interface requirement and adding the available interface to the interactive object. After obtaining the available interface, the interactive objects can be connected through the available interface, thereby establishing a model connection. For each navigation requirement, step S22 is performed and they are combined together, thereby obtaining an initial first navigation model.

[0062] Then, different devices can be selected in the step of extracting the interactive object from the model step, so as to obtain different initial first navigation models. Each initial first navigation model can be checked according to the model design hard constraint in the navigation model design constraint, that is, whether it can meet the constraint condition of the model design hard constraint, and in addition, the economy and system complexity need to be evaluated, so as to obtain a checking result. Then, the initial first navigation model is modified according to the checking result, that is, which part of the initial first navigation model causes it to fail to meet the model design hard constraint is checked and replaced, so as to complete the modification. The initial first navigation model is selected according to the model design soft constraint, and the initial first navigation model with lower system complexity and better economy is selected under the premise of meeting the model design hard constraint, so that the first navigation model can be obtained. The first navigation model has a faster system response speed because it is based on the model step which has been determined.

[0063] S3: analyzing the navigation device to obtain an upper layer framework, determining an interface attribute according to a navigation interface, establishing a navigation device unit according to the upper layer framework and the interface attribute, determining a navigation parameter requirement from the navigation model design constraint and establishing an initial second navigation model through the navigation device unit and the navigation parameter requirement, modifying the initial second navigation model to obtain a second navigation model;

[0064] Further, the purpose of this stage is to establish a navigation device unit according to the upper layer framework and the interface attribute, so as to establish an initial second navigation model through the navigation device unit and the navigation parameter requirement, and modify the initial second navigation model to obtain a second navigation model. Specifically, step S3 further includes:

[0065] S31: selecting a model architecture, analyzing the navigation device through the model architecture to obtain the upper layer framework, and determining the interface attribute according to the input parameter and the output parameter of the navigation interface;

[0066] S32: obtaining the navigation device unit through the interface attribute, the navigation device and the upper layer framework, determining the navigation parameter requirement from the navigation model design constraint, and selecting and connecting the navigation device unit according to the navigation parameter requirement to obtain the initial second navigation model;

[0067] S33: checking the initial second navigation model according to the navigation model design constraint, so as to modify and select the initial second navigation model to obtain the second navigation model.

[0068] For the above steps, the specific implementation in this embodiment is as follows:

[0069] Firstly, a model architecture is selected, and the HLSA (High-Level Solution Architecture) is selected as the model architecture. The navigation device is analyzed in a white box manner through the model architecture, that is, the internal composition, parameter type, device precision, and resource backup design of the navigation device are analyzed, so as to obtain an upper layer framework. In addition, the properties of the input parameters and the output parameters of the navigation interface are determined according to the input parameters and the output parameters of the navigation interface, so as to determine the interface properties. Then, the navigation device unit is obtained through the interface properties, the navigation device, and the upper layer framework, that is, each navigation device in the corresponding part of the upper layer framework and the interface properties thereof are encapsulated to obtain a navigation device unit, and each navigation device unit is like a building block.

[0070] Then, the requirements for the precision of the navigation parameters are determined according to the model design hard constraints in the navigation model design constraints, and the navigation task is decomposed to determine which parameters are required to perform the navigation task, so as to obtain the navigation parameter requirements. Since the parameter type, device precision, and the like are included in each navigation device unit, the navigation device unit can be screened according to the navigation parameter requirements. Then, the selected navigation device units are connected according to the interface properties, and the interfaces of the selected navigation device units that can be compatible and transmitted are connected, so that the data processing device can use the data of the navigation device unit to perform the navigation task, that is, an initial second navigation model is obtained, and the above steps can be repeated to obtain multiple initial second navigation models.

[0071] Then, each initial second navigation model is checked according to the model design hard constraints in the navigation model design constraints to determine whether it can meet the constraint conditions of the model design hard constraints, and the economy and system complexity are evaluated, and it is checked whether the initial second navigation model can complete the navigation task, so as to replace the navigation device unit in the initial second navigation model. Since the connection mode of the navigation device unit in some initial second navigation models cannot complete the navigation task, the initial second navigation models that cannot complete the navigation task need to be eliminated, and the initial second navigation model with the best performance of economy and system complexity is selected from the remaining initial second navigation models as a second navigation model. The second navigation model has high precision because it is based on the upper layer framework including the device precision.

[0072] S4: determining a parameter calculation formula according to the navigation parameter requirements, selecting a target navigation device from the navigation device according to the parameter calculation formula and connecting the target navigation device through the navigation interface to obtain an initial third navigation model, and modifying the initial third navigation model to obtain a third navigation model;

[0073] Further, the purpose of this stage is to select target navigation devices from the navigation devices according to the parameter calculation formula and connect the target navigation devices through the navigation interface to obtain an initial third navigation model, correct the initial third navigation model to obtain a third navigation model. Specifically, step S4 further includes:

[0074] S41: determine the navigation parameter requirement from the navigation model design constraint, analyze the navigation parameter requirement to obtain the parameter calculation formula;

[0075] S42: select target navigation devices from the navigation devices according to the parameter calculation formula and connect the target navigation devices through the navigation interface to obtain the initial third navigation model, calculate a third model error through the parameter calculation formula and the initial third navigation model, correct the initial third navigation model according to the navigation model design constraint and the third model error to obtain a third navigation model.

[0076] For the above steps, the specific implementation in this embodiment is as follows:

[0077] First, the method of step S32 is used to determine the navigation parameter requirement, and the navigation parameter requirement is analyzed to determine which parameters are needed to perform calculation to complete the navigation task, how to calculate these parameters during calculation and complete the navigation task, so as to obtain the parameter calculation formula.

[0078] Then, according to the parameter calculation formula, it can be known which parameters need to be obtained, the devices capable of obtaining these parameters are selected from the navigation devices, these navigation devices are taken as target navigation devices, the connection order is determined according to the parameter calculation formula, and the available interfaces in the navigation interface are selected to connect the target navigation devices to obtain an initial third navigation model. In addition, the errors of the parameters of the target navigation devices in the initial third navigation model can be obtained, the errors of these parameters are substituted into the parameter calculation formula to calculate a third model error, and whether the third model error satisfies the model design hard constraint in the navigation model design constraint is compared. When the model design hard constraint is not satisfied, the target navigation devices need to be replaced for correction until the model design hard constraint is satisfied, so as to obtain a third navigation model. When the third navigation model is obtained, the parameters involved in multiplication operation and used multiple times in the parameter calculation formula are preferentially obtained by using navigation devices with higher precision to reduce the third model error. The third navigation model is based on the parameter calculation formula, and a part of the requirements for steps are implicitly included in the parameter expression. The parameter expression can be used to calculate the third model error, and the error transmission process is also included, so that the advantages of the first navigation model and the second navigation model can be considered.

[0079] S5: Establishing a trade-off matrix, and calculating a comprehensive score of the first navigation model, the second navigation model and the third navigation model through the trade-off matrix to obtain a target navigation model, and providing navigation data through the target navigation model.

[0080] Further, the purpose of this stage is to calculate a comprehensive score of the first navigation model, the second navigation model and the third navigation model to obtain a target navigation model, and provide navigation data through the target navigation model. Specifically, step S5 further includes:

[0081] S51: Analyzing the navigation model design constraints to obtain navigation model requirements, and establishing the trade-off matrix according to the navigation model requirements;

[0082] S52: Normalizing the trade-off matrix to obtain weight coefficients, calculating model scores of the first navigation model, the second navigation model and the third navigation model, and calculating the comprehensive score through the model scores and the weight coefficients to obtain a target navigation model, and providing navigation data through the target navigation model.

[0083] For the above steps, the specific implementation in this embodiment is as follows:

[0084] First, the navigation model design constraints need to be analyzed to obtain the requirements for the performance of the navigation model, that is, the navigation model requirements. In this embodiment, the navigation model requirements are precision, system response speed and system cost, and the priority of the three items decreases from front to back. Then, the trade-off matrix Q is established according to the navigation model requirements. In this embodiment, the trade-off matrix is:

[0085]

[0086] Then, the trade-off matrix is normalized. The specific steps are as follows: first, divide each value in the trade-off matrix by the average of the three values in the column where the value is located to obtain a normalized trade-off matrix. Then, add the three values in each row of the normalized trade-off matrix and take the average to obtain an initial weight coefficient. Divide each value of the initial weight coefficient by the average of the initial weight coefficient to obtain the weight coefficient. The three values of the weight coefficient from the first row to the third row correspond to the navigation precision, the system response speed and the system cost, respectively.

[0087] Then, model scores of the first navigation model, the second navigation model and the third navigation model, that is, scores of navigation accuracy, system response speed and system cost are calculated, where the higher the navigation accuracy is, the smaller the navigation error is, so that the model score on the navigation accuracy is higher; the faster the system response speed is, the higher the model score on the system response speed is; the lower the system cost is, the higher the model score on the system cost is, the three scores of each model are taken as the model score, then the weight coefficients of the navigation accuracy, the system response speed and the system cost are multiplied with the model score on the navigation accuracy, the model score on the system response speed and the model score on the system cost respectively, and then the multiplied scores are added to complete the comprehensive score calculation, the navigation model with the highest comprehensive score is taken as the target navigation model, and navigation data is provided through the target navigation model to guide the ship navigation.

[0088] The multi-navigation model construction and selection method provided by the application can construct the first navigation model based on the model step, the second navigation model based on the upper layer framework and the third navigation model based on the parameter calculation formula, so that navigation models with different focuses are provided and the navigation model with the best comprehensive performance is selected to provide navigation data.

[0089] The multi-navigation model construction and selection device provided by the application is described below, and the multi-navigation model construction and selection device described below can be correspondingly referred to the multi-navigation model construction and selection method described above.

[0090] Figure 2 The structure schematic diagram of the multi-navigation model construction and selection system is exemplified, as shown in Figure 2 The multi-navigation model construction and selection method is executed, and the multi-navigation model construction and selection system includes:

[0091] The navigation device module 100 is used for determining the navigation device, determining the navigation interface according to the navigation device, and determining the navigation model design constraint;

[0092] The first navigation model module 200 is used for determining the device interaction object, creating the model use case, associating the device interaction object with the model use case, obtaining the model step, analyzing the model step to obtain the interface requirement, selecting the available interface from the navigation interface according to the interface requirement, adding the available interface to the model step and establishing the model contact to obtain the initial first navigation model, and modifying the initial first navigation model according to the navigation model design constraint to obtain the first navigation model;

[0093] The second navigation model module 300 is configured to analyze the navigation device, obtain an upper layer framework, determine interface attributes according to the navigation interface, establish a navigation device unit according to the upper layer framework and the interface attributes, determine navigation parameter requirements from the navigation model design constraints and establish an initial second navigation model through the navigation device unit and the navigation parameter requirements, correct the initial second navigation model, and obtain the second navigation model.

[0094] The third navigation model module 400 is configured to determine a parameter calculation formula according to the navigation parameter requirements, select a target navigation device from the navigation device according to the parameter calculation formula and connect the target navigation device through the navigation interface, obtain an initial third navigation model, correct the initial third navigation model, and obtain the third navigation model.

[0095] The navigation model selection module 500 is configured to establish a trade-off matrix, perform comprehensive score calculation on the first navigation model, the second navigation model and the third navigation model through the trade-off matrix, obtain a target navigation model, and provide navigation data through the target navigation model.

[0096] Figure 3 An example of an entity structure diagram of an electronic device is shown in FIG. 1. Figure 3 As shown in FIG. 1, the electronic device can include a processor 810, a communications interface 820, a memory 830, and a communications bus 840, wherein the processor 810, the communications interface 820, and the memory 830 can communicate with each other through the communications bus 840. The processor 810 can invoke a computer program in the memory 830 to execute a multi-navigation model construction and selection method, which includes the following steps.

[0097] S1: determining a navigation device, determining a navigation interface according to the navigation device, and determining navigation model design constraints.

[0098] S2: determining a device interaction object, creating a model use case, associating the device interaction object with the model use case, obtaining a model step, analyzing the model step to obtain interface requirements, selecting available interfaces from the navigation interface according to the interface requirements and adding the available interfaces to the model step and establishing a model relationship, obtaining an initial first navigation model, correcting the initial first navigation model according to the navigation model design constraints, and obtaining the first navigation model.

[0099] S3: analyzing the navigation device, obtaining an upper layer framework, determining interface attributes according to the navigation interface, establishing a navigation device unit according to the upper layer framework and the interface attributes, determining navigation parameter requirements from the navigation model design constraints and establishing an initial second navigation model through the navigation device unit and the navigation parameter requirements, correcting the initial second navigation model, and obtaining the second navigation model.

[0100] S4: determining a parameter calculation formula according to the navigation parameter requirement, selecting a target navigation device from the navigation device according to the parameter calculation formula and connecting the target navigation device through the navigation interface to obtain an initial third navigation model, correcting the initial third navigation model to obtain a third navigation model;

[0101] S5: establishing a trade-off matrix, performing comprehensive score calculation on the first navigation model, the second navigation model and the third navigation model through the trade-off matrix to obtain a target navigation model, and providing navigation data through the target navigation model.

[0102] In addition, the computer program in the memory 830 described above can be realized in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0103] On the other hand, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, and the computer program comprises program instructions, when the program instructions are executed by a computer, the computer can execute the multi-navigation model construction and selection method provided by the above-mentioned methods, and the method comprises:

[0104] S1: determining a navigation device, determining a navigation interface according to the navigation device, and determining a navigation model design constraint;

[0105] S2: determining a device interaction object, creating a model use case, associating the device interaction object with the model use case to obtain a model step, analyzing the model step to obtain an interface requirement, selecting an available interface from the navigation interface according to the interface requirement and adding the available interface to the model step to establish a model connection, obtaining an initial first navigation model, correcting the initial first navigation model according to the navigation model design constraint to obtain a first navigation model;

[0106] S3: analyzing the navigation device to obtain an upper layer framework, determining interface attributes according to the navigation interface, establishing a navigation device unit according to the upper layer framework and the interface attributes, determining navigation parameter requirements from the navigation model design constraints and establishing an initial second navigation model through the navigation device unit and the navigation parameter requirements, correcting the initial second navigation model to obtain a second navigation model;

[0107] S4: determining a parameter calculation formula according to the navigation parameter requirements, selecting a target navigation device from the navigation device according to the parameter calculation formula and connecting the target navigation device through the navigation interface to obtain an initial third navigation model, correcting the initial third navigation model to obtain a third navigation model;

[0108] S5: establishing a trade-off matrix, performing comprehensive score calculation on the first navigation model, the second navigation model and the third navigation model through the trade-off matrix to obtain a target navigation model, and providing navigation data through the target navigation model.

[0109] In another aspect, the application further provides a non-transitory computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the above-mentioned provided multi-navigation model construction and selection method, the method comprising:

[0110] S1: determining a navigation device, determining a navigation interface according to the navigation device, and determining navigation model design constraints;

[0111] S2: determining a device interaction object, creating a model use case, associating the device interaction object with the model use case to obtain a model step, analyzing the model step to obtain interface requirements, selecting available interfaces from the navigation interface according to the interface requirements and adding them to the model step and establishing a model contact to obtain an initial first navigation model, and correcting the initial first navigation model according to the navigation model design constraints to obtain a first navigation model;

[0112] S3: analyzing the navigation device to obtain an upper layer framework, determining interface attributes according to the navigation interface, establishing a navigation device unit according to the upper layer framework and the interface attributes, determining navigation parameter requirements from the navigation model design constraints and establishing an initial second navigation model through the navigation device unit and the navigation parameter requirements, correcting the initial second navigation model to obtain a second navigation model;

[0113] S4: determining a parameter calculation formula according to the navigation parameter requirements, selecting a target navigation device from the navigation device according to the parameter calculation formula and connecting the target navigation device through the navigation interface to obtain an initial third navigation model, correcting the initial third navigation model to obtain a third navigation model;

[0114] S5: Establish a trade-off matrix, and through the trade-off matrix, the first navigation model, the second navigation model and the third navigation model are comprehensively scored to obtain a target navigation model, and navigation data is provided through the target navigation model.

[0115] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0116] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course, can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0117] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-navigation model construction and selection method, characterized in that, Comprise: S1: determine the navigation device, determine the navigation interface according to the navigation device, determine the navigation model design constraint; S2: determine the device interaction object, create a model use case, associate the device interaction object with the model use case, obtain the model step, analyze the model step to obtain the interface requirement, select the available interface from the navigation interface according to the interface requirement and add it to the model step and establish the model contact to obtain the initial first navigation model, modify the initial first navigation model according to the navigation model design constraint to obtain the first navigation model; S3: analyze the navigation device to obtain the upper layer framework, determine the interface attribute according to the navigation interface, establish the navigation device unit according to the upper layer framework and the interface attribute, determine the navigation parameter requirement from the navigation model design constraint and establish the initial second navigation model through the navigation device unit and the navigation parameter requirement, modify the initial second navigation model to obtain the second navigation model; S4: determine the parameter calculation formula according to the navigation parameter requirement, select the target navigation device from the navigation device according to the parameter calculation formula and connect it through the navigation interface to obtain the initial third navigation model, modify the initial third navigation model to obtain the third navigation model; S5: establish a trade-off matrix through a weighted average method, calculate the comprehensive score of the first navigation model, the second navigation model and the third navigation model through the trade-off matrix to obtain the target navigation model, and provide navigation data through the target navigation model.

2. The multi-navigation model construction and selection method of claim 1, wherein, In step S1, the navigation model design constraint includes model design hard constraint and model design soft constraint, wherein the model design hard constraint includes precision constraint and reaction time constraint, and the model design soft constraint includes economy constraint and system complexity constraint.

3. The multi-navigation model construction and selection method of claim 1, wherein, Step S2 further comprises: S21: determine the device interaction object, determine the navigation requirement, create the model use case according to the navigation requirement, perform model step back propagation through the model use case to obtain the initial model step, and fuse the device interaction object and the initial model step to obtain the model step; S22: extract the interaction object from the model step, determine the interface requirement of the interaction object, select the available interface from the navigation interface according to the interface requirement and add it to the interaction object, connect the interaction object through the available interface to establish the model contact and obtain the initial first navigation model; S23: check the initial first navigation model according to the navigation model design constraint, and modify and select the initial first navigation model according to the check result to obtain the first navigation model.

4. The multi-navigation model construction and selection method of claim 1, wherein, Step S3 further comprises: S31: select a model architecture, analyze the navigation device through the model architecture to obtain the upper layer framework, and determine the interface attribute according to the input parameter and output parameter of the navigation interface; S32: obtaining the navigation device unit through the interface attribute, the navigation device and the upper layer framework, determining the navigation parameter requirement from the navigation model design constraint, selecting and connecting the navigation device unit according to the navigation parameter requirement, and obtaining the initial second navigation model; S33: checking the initial second navigation model according to the navigation model design constraint, and thus modifying and selecting the initial second navigation model to obtain the second navigation model.

5. The multi-navigation model construction and selection method of claim 1, wherein, Step S4 further comprises: S41: determining the navigation parameter requirement from the navigation model design constraint, and analyzing the navigation parameter requirement to obtain the parameter calculation formula; S42: selecting the target navigation device from the navigation device according to the parameter calculation formula and connecting the target navigation device through the navigation interface to obtain the initial third navigation model, calculating the third model error through the parameter calculation formula and the initial third navigation model, modifying the initial third navigation model according to the navigation model design constraint and the third model error, and obtaining the third navigation model.

6. The multi-navigation model construction and selection method of claim 1, wherein, Step S5 further comprises: S51: analyzing the navigation model design constraint to obtain the navigation model requirement, and establishing the trade-off matrix according to the navigation model requirement; S52: normalizing the trade-off matrix to obtain the weight coefficient, calculating the model score of the first navigation model, the second navigation model and the third navigation model, and calculating the comprehensive score through the model score and the weight coefficient to obtain the target navigation model, and providing the navigation data through the target navigation model.

7. A multi-navigation model construction and selection system for performing the multi-navigation model construction and selection method according to any one of claims 1 to 6, characterized by Comprise: The navigation device module is used for determining the navigation device, determining the navigation interface according to the navigation device, and determining the navigation model design constraint; The first navigation model module is used for determining the device interaction object, creating the model use case, associating the device interaction object with the model use case to obtain the model step, analyzing the model step to obtain the interface requirement, selecting the available interface from the navigation interface according to the interface requirement and adding the available interface to the model step to establish the model connection, obtaining the initial first navigation model, modifying the initial first navigation model according to the navigation model design constraint, and obtaining the first navigation model; The second navigation model module is used for analyzing the navigation device to obtain the upper layer framework, determining the interface attribute according to the navigation interface, establishing the navigation device unit according to the upper layer framework and the interface attribute, determining the navigation parameter requirement from the navigation model design constraint and establishing the initial second navigation model through the navigation device unit and the navigation parameter requirement, and modifying the initial second navigation model to obtain the second navigation model; The third navigation model module is used for determining the parameter calculation formula according to the navigation parameter requirement, selecting the target navigation device from the navigation device according to the parameter calculation formula and connecting the target navigation device through the navigation interface to obtain the initial third navigation model, and modifying the initial third navigation model to obtain the third navigation model; The third navigation model module is used for determining the parameter calculation formula according to the navigation parameter requirement, selecting the target navigation device from the navigation device according to the parameter calculation formula and connecting the target navigation device through the navigation interface to obtain the initial third navigation model, and modifying the initial third navigation model to obtain the third navigation model; The navigation model selection module is configured to establish a trade-off matrix, and to calculate a comprehensive score of the first navigation model, the second navigation model and the third navigation model through the trade-off matrix to obtain a target navigation model, and to provide navigation data through the target navigation model.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the steps of the multi-navigation model construction and selection method according to any one of claims 1 to 6. 9.A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the multi-navigation model construction and selection method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, characterized in that, When the program instructions are executed by the computer, the computer can perform the steps of the multi-navigation model construction and selection method according to any one of claims 1 to 6.

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