A system and method for monitoring sailboat stability testing

Abstract

The application relates to the field of sailboat monitoring technology and discloses a sailboat navigation stability test monitoring system and method, which comprises the following modules: a parameter acquisition module, which is used for acquiring sailing parameters, attitude parameters and environmental parameters of a sailboat; a parameter processing module, which is used for preprocessing the sailing parameters, the attitude parameters and the environmental parameters; a parameter analysis module, which is used for compensating a stable index initial value according to preprocessed wind speed, wind direction and sailing direction to obtain a stable index compensation value; the parameter analysis module is also used for correcting the stable index compensation value according to an influence coefficient; a grade evaluation module, which is used for performing stability grade evaluation according to the stable index final value; and a display module. The application improves the accuracy and reliability of sailboat navigation stability test.

Description

Technical Field

[0001] This invention relates to the field of sailboat monitoring technology, and more specifically, to a sailboat navigation stability testing and monitoring system and method. Background Technology

[0002] With the development of water sports, recreational sailing, and marine exploration, sailboats, as wind-powered vessels, are increasingly used in various aquatic environments. During sailing, the motion of a sailboat is affected by various factors, including hull structure, speed, wind conditions, and current disturbances. Especially under conditions of significant wind speed changes or rapid changes in sailing conditions, the hull is prone to roll, pitch, and other attitude changes, which in turn affect sailing stability.

[0003] Existing methods for testing sailboat stability typically measure attitude parameters such as roll and heel angles to determine the degree of hull tilt and analyze the sailboat's stability. However, during actual sailing, the stability of a sailboat is not only affected by its own attitude changes but also closely related to external wind conditions and sailing status. Evaluating stability based solely on a single attitude parameter is insufficient to fully reflect the combined effects of wind speed and direction changes, as well as varying sailing speeds, easily leading to discrepancies between stability test results and actual sailing conditions.

[0004] Therefore, it is necessary to provide a sailboat navigation stability testing and monitoring system and method to solve the problem that the existing technology has a single stability evaluation parameter and cannot fully consider environmental factors and changes in navigation status, resulting in insufficient accuracy of test results. Summary of the Invention

[0005] In view of this, the present invention proposes a sailboat navigation stability testing and monitoring system and method, which aims to solve the problem that the stability evaluation parameters in the prior art are too few and cannot fully consider environmental factors and changes in navigation status, resulting in insufficient accuracy of test results.

[0006] On the one hand, this invention proposes a sailboat navigation stability testing and monitoring system, comprising: The parameter acquisition module is used to acquire the sailboat's navigation parameters, attitude parameters, and environmental parameters; wherein, the navigation parameters include sailing speed, sailing acceleration, and sailing direction; the attitude parameters include roll angle and pitch angle; and the environmental parameters include wind speed and wind direction. The parameter processing module is used to preprocess the navigation parameters, attitude parameters, and environmental parameters; The parameter analysis module is used to calculate the initial value of the navigation stability index based on the preprocessed roll and pitch angles, and to determine whether to compensate the initial value of the stability index based on the wind speed. If compensation is required, the initial value of the stability index is compensated based on the preprocessed wind speed, wind direction, and navigation direction to obtain the stability index compensation value. The parameter analysis module is also used to determine whether the stability index compensation value needs to be corrected based on the preprocessed sailing speed. If it is determined that correction is needed, the influence coefficient is calculated based on the preprocessed sailing speed and sailing acceleration, and the stability index compensation value is corrected based on the influence coefficient to obtain the final value of the stability index. The stability assessment module is used to assess the stability level based on the final value of the stability index to obtain the stability level. The display module is used to display navigation parameters, attitude parameters, environmental parameters, initial stability index, stability index compensation value, final stability index value, and stability level.

[0007] Furthermore, when the parameter processing module preprocesses the navigation parameters, attitude parameters, and environmental parameters, it includes: Anomaly detection is performed on the navigation parameters, attitude parameters, and environmental parameters to remove abnormal data that exceeds the preset detection range; The navigation parameters, attitude parameters, and environmental parameters after removing outliers are filtered. The filtered navigation parameters, attitude parameters, and environmental parameters are time-synchronized to correspond to the same navigation time.

[0008] Furthermore, when the parameter analysis module calculates the initial value of the navigation stability index based on the preprocessed roll and pitch angles, it includes: Calculate the deviation angle between the roll angle and the preset roll angle threshold, and record it as the first angle; and calculate the ratio of the first angle to the preset roll angle threshold, and record it as the first deviation rate; Calculate the deviation angle between the pitch angle and the preset pitch angle threshold, and record it as the second angle; and calculate the ratio of the second angle to the preset pitch angle threshold, and record it as the second deviation rate. The initial value of the navigation stability index is calculated based on the first deviation rate and the second deviation rate.

[0009] Furthermore, the calculation of the initial value of the navigation stability index based on the first deviation rate and the second deviation rate includes: If both the first deviation rate and the second deviation rate are less than or equal to zero, the initial value of the navigation stability index is 1. If the first deviation rate is less than or equal to zero and the second deviation rate is greater than zero, then the initial value of the navigation stability index is 0.5. If the first deviation rate is greater than zero and the second deviation rate is less than or equal to zero, then the initial value of the navigation stability index is 0.5. If both the first deviation rate and the second deviation rate are greater than zero and both are less than the preset maximum deviation value, then the initial value of the navigation stability index is 0.1. Otherwise, the initial value of the navigation stability index is 0.

[0010] Furthermore, when the parameter analysis module determines whether to compensate for the initial value of the stability index based on the wind speed, it includes: If the wind speed is greater than the preset wind speed threshold, it is determined that the initial value of the stability index should be compensated. If the wind speed is less than or equal to a preset wind speed threshold, it is determined that no compensation will be made for the initial value of the stability index.

[0011] Furthermore, the parameter analysis module is used to compensate the initial value of the stability index based on the preprocessed wind speed, wind direction, and navigation direction. When obtaining the compensated stability index value, it includes: If the wind speed is greater than the preset wind speed threshold and the angle between the wind direction and the navigation direction is greater than or equal to the preset angle, the initial value of the stability index will be compensated by the first compensation coefficient. If the wind speed is greater than the preset wind speed threshold and the angle between the wind direction and the navigation direction is less than the preset angle, the initial value of the stability index is compensated by the second compensation coefficient. The compensation coefficient ranges from 1.2 to the first compensation coefficient to the second compensation coefficient to 1, and the stability index compensation value is the product of the initial value of the stability index and the compensation coefficient.

[0012] Furthermore, the parameter analysis module is also used to determine whether to correct the stability index compensation value based on the preprocessed sailing speed, including: Compare the sailing speed with the preset speed range; If the sailing speed is within the preset speed range, it is determined that the stability index compensation value will not be corrected. If the sailing speed is not within the preset speed range, it is determined that the stability index compensation value should be corrected.

[0013] Furthermore, the step of calculating the influence coefficient based on the preprocessed sailing speed and acceleration, and correcting the stability index compensation value based on the influence coefficient to obtain the final value of the stability index includes: If the sailing speed is greater than the preset speed range and the sailing acceleration is not zero, the stability index compensation value is corrected by the first influence coefficient. If the sailing speed is less than the preset speed range and the sailing acceleration is not zero, the stability index compensation value is corrected by the second influence coefficient. If the sailing speed is greater than the preset speed range and the sailing acceleration is zero, the stability index compensation value is corrected by the third influence coefficient. If the sailing speed is less than the preset speed range and the sailing acceleration is zero, the stability index compensation value is corrected by the fourth influence coefficient. The influence coefficient ranges from 1.2 to the first influence coefficient, then to the second influence coefficient, then to the third influence coefficient, then to the fourth influence coefficient, and finally to 1. The final value of the stability index is the product of the stability index compensation value and the influence coefficient.

[0014] Furthermore, the stability assessment module is used to assess the stability level based on the final value of the stability index, and when obtaining the stability level, it includes: Set the index level range; If the final value of the stability index is zero, then the stability level is zero. If the stability index is greater than zero and less than the minimum value of the index level range, then the stability level is level one; If the stability index is within the index level range, then the stability level is level two; If the stability index is greater than the maximum value of the index level range, the stability level is level three; The stability levels, from lowest to highest, are level zero, level one, level two, and level three.

[0015] Compared with existing technologies, the advantages of this invention are as follows: This invention collects navigation parameters, attitude parameters, and environmental parameters during sailing through a parameter acquisition module. This allows for the acquisition of fundamental data reflecting the sailboat's motion state, hull attitude changes, and the influence of the external environment, providing data support for sailing stability testing. The parameter analysis module calculates an initial value of the sailing stability index based on the roll and pitch angles, used to preliminarily characterize the sailboat's stability under its own attitude state. Simultaneously, it assesses the degree of influence of external environmental factors on stability based on wind speed and compensates for the stability index by incorporating wind direction and sailing direction, ensuring that the stability evaluation results take into account the impact of wind force. Furthermore, it further corrects the stability index by combining sailing speed and sailing acceleration, enabling the stability test results to reflect the impact of sailboat motion changes on stability performance under different sailing states. Through the above-mentioned multi-parameter comprehensive analysis method, it avoids the stability judgment bias caused by single attitude parameter evaluation, making the obtained stability index more consistent with the actual stability state of the sailboat during sailing. Finally, the stability index and corresponding stability level are output through the rating assessment module and display module, realizing intuitive testing and monitoring of sailboat sailing stability. This allows users to understand the stability performance under the current sailing condition in a timely manner, improving the accuracy and practicality of sailboat sailing stability testing.

[0016] On the other hand, this application also provides a method for testing and monitoring the stability of a sailboat, including: The system collects sailing parameters, attitude parameters, and environmental parameters of the sailboat; the sailing parameters include sailing speed, sailing acceleration, and sailing direction; the attitude parameters include roll angle and pitch angle; and the environmental parameters include wind speed and wind direction. The navigation parameters, attitude parameters, and environmental parameters are preprocessed; The initial value of the navigation stability index is calculated based on the pre-processed roll and pitch angles. It is then determined whether the initial value of the stability index needs to be compensated based on the wind speed. If compensation is required, the initial value of the stability index is compensated based on the pre-processed wind speed, wind direction, and navigation direction to obtain the stability index compensation value. Based on the preprocessed sailing speed, it is determined whether the stability index compensation value needs to be corrected. If it is determined that correction is needed, the influence coefficient is calculated based on the preprocessed sailing speed and sailing acceleration, and the stability index compensation value is corrected based on the influence coefficient to obtain the final value of the stability index. The stability level is obtained by evaluating the stability level based on the final value of the stability index. Displays navigation parameters, attitude parameters, environmental parameters, initial stability index, stability index compensation value, final stability index value, and stability level.

[0017] It is understood that the sailboat navigation stability testing and monitoring system and method provided in this application have the same beneficial effects, and will not be described in detail here. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 This is a functional block diagram of a sailboat navigation stability testing and monitoring system provided in an embodiment of the present invention; Figure 2 A flowchart of a sailboat navigation stability testing and monitoring method provided in an embodiment of the present invention. Detailed Implementation

[0019] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] In some embodiments of this application, see Figure 1 As shown, this embodiment provides a sailboat navigation stability testing and monitoring system, including: The parameter acquisition module is used to acquire the sailboat's navigation parameters, attitude parameters, and environmental parameters; wherein, the navigation parameters include sailing speed, sailing acceleration, and sailing direction; the attitude parameters include roll angle and pitch angle; and the environmental parameters include wind speed and wind direction. The parameter processing module is used to preprocess the navigation parameters, attitude parameters, and environmental parameters; The parameter analysis module is used to calculate the initial value of the navigation stability index based on the preprocessed roll and pitch angles, and to determine whether to compensate the initial value of the stability index based on the wind speed. If compensation is required, the initial value of the stability index is compensated based on the preprocessed wind speed, wind direction, and navigation direction to obtain the stability index compensation value. The parameter analysis module is also used to determine whether the stability index compensation value needs to be corrected based on the preprocessed sailing speed. If it is determined that correction is needed, the influence coefficient is calculated based on the preprocessed sailing speed and sailing acceleration, and the stability index compensation value is corrected based on the influence coefficient to obtain the final value of the stability index. The stability assessment module is used to assess the stability level based on the final value of the stability index to obtain the stability level. The display module is used to display navigation parameters, attitude parameters, environmental parameters, initial stability index, stability index compensation value, final stability index value, and stability level.

[0021] Understandably, this invention collects navigation parameters, attitude parameters, and environmental parameters during sailing through a parameter acquisition module. This allows for the acquisition of fundamental data reflecting the sailboat's motion state, changes in hull attitude, and the influence of the external environment, providing data support for sailing stability testing. The parameter analysis module calculates an initial value for the sailing stability index based on roll and pitch angles, used to preliminarily characterize the sailboat's stability under its own attitude state. Simultaneously, it assesses the degree of influence of external environmental factors on stability based on wind speed and compensates for the stability index by incorporating wind direction and sailing direction, ensuring that the stability evaluation results account for the impact of wind forces. Furthermore, it further corrects the stability index by combining sailing speed and acceleration, enabling the stability test results to reflect the impact of sailboat motion changes on stability performance under different sailing states. This multi-parameter comprehensive analysis method avoids the stability judgment bias caused by evaluating only attitude parameters, making the obtained stability index more consistent with the actual stability state of the sailboat during sailing. Finally, the level evaluation module and display module output the stability index and corresponding stability level, realizing intuitive testing and monitoring of sailboat sailing stability. This allows users to promptly understand the stability performance under the current sailing state, improving the accuracy and practicality of sailboat sailing stability testing.

[0022] In some specific embodiments of this application, when the parameter processing module is used to preprocess the navigation parameters, attitude parameters, and environmental parameters, it includes: Anomaly detection is performed on the navigation parameters, attitude parameters, and environmental parameters to remove abnormal data that exceeds the preset detection range; The navigation parameters, attitude parameters, and environmental parameters after removing outliers are filtered. The filtered navigation parameters, attitude parameters, and environmental parameters are time-synchronized to correspond to the same navigation time.

[0023] It is understandable that by preprocessing the collected navigation parameters, attitude parameters, and environmental parameters, the impact of abnormal data, random noise, and time deviations in the original collected data on the stability test results can be reduced.

[0024] Among these measures, outlier detection removes data that exceeds the preset detection range, preventing invalid data from being included in subsequent analysis due to sensor malfunctions or external interference, thus improving the effectiveness of input data; filtering reduces the noise impact caused by wave disturbances, equipment vibrations, and other factors during navigation; and time synchronization ensures that different types of parameters correspond to the same navigation time, guaranteeing the data correlation between navigation status, ship attitude, and environmental conditions.

[0025] In some specific embodiments of this application, when the parameter analysis module calculates the initial value of the navigation stability index based on the preprocessed roll and pitch angles, it includes: Calculate the deviation angle between the roll angle and the preset roll angle threshold, and record it as the first angle; and calculate the ratio of the first angle to the preset roll angle threshold, and record it as the first deviation rate; Calculate the deviation angle between the pitch angle and the preset pitch angle threshold, and record it as the second angle; and calculate the ratio of the second angle to the preset pitch angle threshold, and record it as the second deviation rate. The initial value of the navigation stability index is calculated based on the first deviation rate and the second deviation rate.

[0026] Understandably, by comparing the roll and pitch angles with corresponding preset thresholds and calculating the corresponding deviation rates, the degree of attitude change of a sailboat during navigation can be quantitatively represented. This invention considers the impact of both lateral and longitudinal tilt on hull stability, and calculates the initial value of the navigation stability index by combining the first and second deviation rates, enabling the stability evaluation results to more comprehensively reflect the current attitude state of the sailboat. When the roll or pitch angle deviates from the normal range, the deviation rate reflects the magnitude of the deviation, improving the accuracy and reliability of sailboat navigation stability testing.

[0027] Specifically, the preset roll angle threshold and preset pitch angle threshold are determined based on the sailboat's own structural parameters, hull size, center of gravity position, and historical sailing test data.

[0028] The preset roll angle threshold is used to represent the range of lateral tilt that a sailboat is allowed to produce under normal sailing conditions. It can be set according to the hull's lateral recovery capability and anti-roll performance. The preset trim angle threshold is used to represent the range of longitudinal tilt that a sailboat is allowed to produce under normal sailing conditions. It can be set according to the hull length, draft, and sailing attitude change characteristics.

[0029] Specifically, in practical applications, stability tests can be conducted under different speeds, loads, and environmental conditions to statistically analyze the range of roll and pitch angle changes when the sailboat is in a stable sailing state. These values ​​can then be corrected using safety margins to obtain the corresponding preset roll and pitch angle thresholds. This ensures that the threshold settings can meet the stability test requirements under different sailing conditions.

[0030] In some specific embodiments of this application, the calculation of the initial value of the navigation stability index based on the first deviation rate and the second deviation rate includes: If both the first deviation rate and the second deviation rate are less than or equal to zero, the initial value of the navigation stability index is 1. If the first deviation rate is less than or equal to zero and the second deviation rate is greater than zero, then the initial value of the navigation stability index is 0.5. If the first deviation rate is greater than zero and the second deviation rate is less than or equal to zero, then the initial value of the navigation stability index is 0.5. If both the first deviation rate and the second deviation rate are greater than zero and both are less than the preset maximum deviation value, then the initial value of the navigation stability index is 0.1. Otherwise, the initial value of the navigation stability index is 0.

[0031] Understandably, by combining the first and second deviation rates, the initial value of the sailing stability index can be determined in stages based on the sailboat's roll and pitch states.

[0032] When both roll and pitch angles are within the preset stable range, the initial value of the stability index is set to a higher value, indicating that the current hull attitude is stable. When there is only a single-direction attitude deviation, the initial value of the stability index is reduced to reflect the impact of attitude changes on stability. When both roll and pitch angles deviate simultaneously, the initial value of the stability index is further reduced according to the degree of deviation, reflecting the superimposed impact of multi-directional attitude changes on the hull stability performance. This avoids evaluation bias caused by judging stability based on only a single attitude parameter, and allows the initial value of the sailing stability index to more accurately reflect the stability capability of the sailboat in its current attitude state.

[0033] Specifically, the preset maximum deviation is used to determine the degree to which the roll and pitch angles deviate from the normal stable range, and is set according to the sailboat's hull structural parameters, stability recovery capability, and safe navigation requirements.

[0034] Specifically, the preferred method is to conduct stability tests on the target sailboat under different load conditions, different speeds, and different sailing environments to obtain the range of roll and pitch angle changes corresponding to the hull in normal stable state, critical tilt state, and dangerous tilt state, and to determine the preset maximum deviation value based on the attitude deviation rate corresponding to the critical tilt state.

[0035] Meanwhile, in practical applications, it is preferable to adjust the preset maximum deviation value by combining ship design specifications, safety margins and historical navigation data, so that the preset maximum deviation value can accurately distinguish between normal attitude fluctuations, stability decline states and extreme tilt states, thereby improving the adaptability and reliability of navigation stability index calculation.

[0036] In some specific embodiments of this application, when the parameter analysis module is used to determine whether to compensate the initial value of the stability index based on the wind speed, it includes: If the wind speed is greater than the preset wind speed threshold, it is determined that the initial value of the stability index should be compensated. If the wind speed is less than or equal to a preset wind speed threshold, it is determined that no compensation will be made for the initial value of the stability index.

[0037] Understandably, by determining whether to compensate the initial value of the stability index based on wind speed, the impact of external wind environmental factors on the sailboat's sailing stability can be incorporated into the evaluation process. When the wind speed is low, the wind force has little impact on the changes in the hull attitude, so the original initial value of the stability index is maintained for evaluation, avoiding unnecessary compensation operations. When the wind speed exceeds the preset wind speed threshold, it indicates that the wind force may have a significant impact on the sailboat's sailing attitude. By triggering the stability index compensation process, the stability evaluation results can reflect the sailboat's resistance to disturbances under actual wind environmental conditions.

[0038] Specifically, the preset wind speed threshold is used to determine whether wind factors will have a significant impact on the sailing stability of a sailboat. It is set based on the sailboat's hull structure, sail area size, hull weight, sailing area environment, and historical sailing test data.

[0039] Preferably, by conducting sailboat sailing tests under different wind speed conditions, collecting data on the changes in the ship's roll angle, pitch angle, and heading under different wind speeds, analyzing the correspondence between wind speed changes and ship attitude disturbances, and determining the corresponding wind speed as the preset wind speed threshold when the wind speed reaches the critical state that causes a significant change in the ship's attitude.

[0040] At the same time, a certain safety margin can be set according to actual navigation safety requirements, so that the preset wind speed threshold can accurately distinguish between conventional wind environments that have little impact on stability and strong wind environments that require stability compensation, thereby improving the rationality of wind speed compensation judgment.

[0041] In some specific embodiments of this application, the parameter analysis module is used to compensate the initial value of the stability index based on the preprocessed wind speed, wind direction, and navigation direction. When obtaining the stability index compensation value, the module includes: If the wind speed is greater than the preset wind speed threshold and the angle between the wind direction and the navigation direction is greater than or equal to the preset angle, the initial value of the stability index will be compensated by the first compensation coefficient. If the wind speed is greater than the preset wind speed threshold and the angle between the wind direction and the navigation direction is less than the preset angle, the initial value of the stability index is compensated by the second compensation coefficient. The compensation coefficient ranges from 1.2 to the first compensation coefficient to the second compensation coefficient to 1, and the stability index compensation value is the product of the initial value of the stability index and the compensation coefficient.

[0042] Specifically, the included angle is the angle between the wind direction vector and the sailboat's sailing direction vector.

[0043] Understandably, by compensating the initial value of the stability index by combining wind speed, wind direction, and sailboat direction, the impact of the external wind environment on the sailboat's sailing stability can be further considered, making the stability evaluation results more consistent with the actual sailing conditions.

[0044] Specifically, when the wind speed exceeds the preset wind speed threshold and the angle between the wind direction and the navigation direction is large, it indicates that the wind force mainly acts on the lateral direction of the hull, which is prone to generating a large lateral disturbance moment and affecting the hull's rolling state. Therefore, a larger first compensation coefficient is used to compensate for the initial value of the stability index. When the angle between the wind direction and the navigation direction is small, it indicates that the wind direction is relatively close to the navigation direction, and the wind force has a relatively small impact on the lateral stability of the hull. Therefore, a smaller second compensation coefficient is used for compensation.

[0045] Furthermore, the preset angle is used to determine the relative relationship between the wind direction and the sailboat's sailing direction, in order to distinguish the degree of influence on the stability of the hull under different wind force conditions.

[0046] Specifically, the preset angle can be determined based on the sailboat's hull structure, sail wind characteristics, hull lateral stress capacity, and sailing test data under different wind conditions.

[0047] In the actual setup process, it is preferable to change the angle between the wind direction and the sailing direction, collect the changes in the sailboat's roll angle, pitch angle and sailing attitude under different angle conditions, analyze the correspondence between the wind direction angle and the change in hull stability, and take the critical angle corresponding to the wind force direction changing from mainly producing lateral disturbance to mainly producing propulsion as the preset angle.

[0048] Furthermore, the first compensation coefficient and the second compensation coefficient are used to represent the degree of influence of the wind environment on the stability index under different wind direction conditions, and are set according to the wind speed, wind direction angle change and sailboat wind resistance stability performance.

[0049] The first compensation coefficient corresponds to situations where the angle between the wind direction and the sailing direction is large. In this case, the wind force has a greater effect on the hull's lateral direction, resulting in a more significant impact on the hull's stability. Therefore, the first compensation coefficient is set to a larger value. The second compensation coefficient corresponds to situations where the angle between the wind direction and the sailing direction is small. In this case, the wind force mainly acts along the sailing direction, resulting in a weaker impact on lateral stability. Therefore, the second compensation coefficient is set to a smaller value. Specific values ​​can be calibrated using sailing test data under different wind speeds and directions, and adjusted based on stability test results, so that the compensation coefficients can accurately reflect the impact of the external wind environment on the sailboat's stability performance.

[0050] In some specific embodiments of this application, the parameter analysis module is further configured to determine whether to correct the stability index compensation value based on the preprocessed sailing speed, including: Compare the sailing speed with the preset speed range; If the sailing speed is within the preset speed range, it is determined that the stability index compensation value will not be corrected. If the sailing speed is not within the preset speed range, it is determined that the stability index compensation value should be corrected.

[0051] Understandably, by comparing the collected sailing speed with the preset speed range, it can be determined whether the current sailing state needs further correction of the stability index compensation value, thus taking into account the impact of the sailboat's motion state on the stability performance evaluation under different sailing speed conditions.

[0052] Specifically, when the sailing speed is within the preset speed range, it indicates that the sailboat is in a relatively stable, normal sailing state, and changes in sailing speed have little impact on the stability of the hull. Therefore, the stability index compensation value remains unchanged to avoid introducing unnecessary correction errors. When the sailing speed exceeds the preset speed range, it indicates that the sailboat may be in a high-speed sailing or low-speed abnormal state. At this time, the hull is more affected by hydrodynamics, inertia, and changes in sailing state. By triggering the stability index correction process, the stability evaluation results can better reflect the actual sailing conditions. By making correction judgments based on sailing speed, the targeting of parameter adjustments during stability testing is improved, and the final stability index can more accurately reflect the stability performance of the sailboat under different sailing speed conditions.

[0053] Furthermore, the preset speed range is used to distinguish between the normal and stable sailing state of the sailboat and the abnormal sailing state that requires stability correction. The preset speed range is set according to the sailboat's design speed, hull size, power performance, sail stress characteristics and historical sailing test data.

[0054] Specifically, by conducting navigation stability tests under different speed conditions, data such as roll angle, pitch angle, acceleration, and hull attitude changes at corresponding speeds are collected. The influence of navigation speed on stability performance is analyzed, and the speed range in which hull attitude changes are small and stability is maintained is determined as the preset speed range. When the navigation speed exceeds the preset speed range, it indicates that high-speed navigation may lead to enhanced hydrodynamic changes; when the navigation speed is below the range, it indicates that the hull may be in a state of low-speed adjustment or affected by external disturbances, thus requiring stability correction.

[0055] In some specific embodiments of this application, the step of calculating the influence coefficient based on the preprocessed sailing speed and sailing acceleration, and correcting the stability index compensation value based on the influence coefficient to obtain the final value of the stability index includes: If the sailing speed is greater than the preset speed range and the sailing acceleration is not zero, the stability index compensation value is corrected by the first influence coefficient. If the sailing speed is less than the preset speed range and the sailing acceleration is not zero, the stability index compensation value is corrected by the second influence coefficient. If the sailing speed is greater than the preset speed range and the sailing acceleration is zero, the stability index compensation value is corrected by the third influence coefficient. If the sailing speed is less than the preset speed range and the sailing acceleration is zero, the stability index compensation value is corrected by the fourth influence coefficient. The influence coefficient ranges from 1.2 to the first influence coefficient, then to the second influence coefficient, then to the third influence coefficient, then to the fourth influence coefficient, and finally to 1. The final value of the stability index is the product of the stability index compensation value and the influence coefficient.

[0056] Understandably, by combining sailing speed and sailing acceleration to further correct the stability index compensation value, the stability differences of sailboats caused by changes in motion under different sailing conditions can be fully considered.

[0057] When the sailing speed is high and the sailing acceleration changes, it indicates that the sailboat is in a condition where the motion state changes significantly. The hull is greatly affected by changes in hydrodynamics and inertia, so a larger first influence coefficient is used for correction. When the sailing speed is low or the speed change is small, the hull motion state is relatively gentle, and the degree of influence on stability is reduced. Therefore, a relatively smaller influence coefficient is used for correction.

[0058] By setting different influence coefficients based on the combination of sailing speed and sailing acceleration, the stability index compensation value can adapt to stability changes under different sailing conditions, thereby improving the ability of the final stability index value to represent the actual sailing state. This avoids the problem of mismatch between the evaluation results and the actual hull motion state caused by compensation based solely on environmental factors, making the sailboat sailing stability test results more accurate and reliable.

[0059] Furthermore, the first influence coefficient, the second influence coefficient, the third influence coefficient, and the fourth influence coefficient are used to represent the degree of influence of the ship's motion state on stability performance under different sailing speeds and accelerations. They are preferably set based on the sailboat's design parameters, sailing speed range, hull inertial characteristics, and stability test data under different operating conditions.

[0060] Specifically, sailing tests were conducted under different speeds and accelerations to collect data on roll angles, pitch angles, and hull attitude changes under corresponding conditions. The impact of changes in speed and acceleration on stability was analyzed. Specifically, at high speeds with acceleration changes, the hydrodynamic changes and inertial disturbances experienced by the hull were more pronounced, thus a larger first influence coefficient was assigned. At low speeds with acceleration changes, the disturbance impact was relatively reduced, corresponding to a second influence coefficient. At high speeds but with acceleration close to zero, the hull motion was relatively stable, corresponding to a third influence coefficient. At low speeds with acceleration close to zero, the hull experienced minimal motion disturbances, corresponding to a fourth influence coefficient. Each influence coefficient was calibrated using experimental data and adjusted in conjunction with safety margins to ensure that different influence coefficients accurately reflect the impact of changes in sailing conditions on the sailboat's stability.

[0061] In some specific embodiments of this application, the stability assessment module is used to assess the stability level based on the final value of the stability index, and when obtaining the stability level, it includes: Set the index level range; If the final value of the stability index is zero, then the stability level is zero. If the stability index is greater than zero and less than the minimum value of the index level range, then the stability level is level one; If the stability index is within the index level range, then the stability level is level two; If the stability index is greater than the maximum value of the index level range, the stability level is level three; The stability levels, from lowest to highest, are level zero, level one, level two, and level three.

[0062] Understandably, by setting corresponding grade ranges based on the final value of the stability index and converting continuously changing stability indices into different stability grades, it is possible to achieve graded evaluation of the sailboat's sailing stability performance, making the test results more intuitive and easier to understand.

[0063] A low final value for the stability index indicates significant changes in the sailboat's attitude or substantial external disturbances, corresponding to a lower stability level. Conversely, a final value within the normal range indicates good sailing stability, corresponding to a higher stability level. Establishing a mapping between the stability index and stability level avoids the problem of users struggling to quickly assess results from simply displaying numerical values. This allows users to quickly understand the sailboat's current sailing status based on the stability level, providing an intuitive basis for sailing status monitoring and safety assessments, and improving the readability and practicality of stability test results.

[0064] Furthermore, the index level range is used to divide the evaluation intervals corresponding to different stability performances, and is set according to the variation pattern of the sailboat stability index, the safe navigation requirements of the hull, and historical navigation test data.

[0065] Specifically, stability tests are conducted under different navigation conditions, wind speeds, and load conditions to obtain the range of stability index changes under the corresponding operating conditions. The index range corresponding to each level is then determined by combining the degree of hull attitude change and navigation safety requirements.

[0066] The lower-level range characterizes states with larger attitude deviations and weaker stability; the middle-level range characterizes normal and stable navigation; and the higher-level range characterizes states where the hull can adapt to complex navigation conditions and maintain good stability. In practical applications, the range of levels can be adjusted according to the structural characteristics and operating environment of different types of sailboats, making the stability rating applicable to different sailboat navigation scenarios and improving the adaptability of stability assessment.

[0067] On the other hand, see Figure 2 As shown, this application also provides a method for testing and monitoring the sailboat's sailing stability, applied to the aforementioned sailboat sailing stability testing and monitoring system, comprising the following steps: S100: Collect the sailing parameters and attitude parameters of the sailboat, as well as environmental parameters; wherein, the sailing parameters include sailing speed, sailing acceleration, and sailing direction; the attitude parameters include roll angle and pitch angle; and the environmental parameters include wind speed and wind direction. S200: Preprocess the navigation parameters, attitude parameters, and environmental parameters; S300. Calculate the initial value of the navigation stability index based on the pre-processed roll angle and pitch angle. Determine whether to compensate the initial value of the stability index based on the wind speed. If compensation is required, compensate the initial value of the stability index based on the pre-processed wind speed, wind direction and navigation direction to obtain the stability index compensation value. S400. Determine whether to correct the stability index compensation value based on the preprocessed sailing speed. If correction is required, calculate the influence coefficient based on the preprocessed sailing speed and sailing acceleration, and correct the stability index compensation value based on the influence coefficient to obtain the final stability index value. S500. Evaluate the stability level based on the final value of the stability index to obtain the stability level; S600 displays navigation parameters, attitude parameters, environmental parameters, initial stability index, stability index compensation value, final stability index value, and stability level.

[0068] Understandably, by collecting navigation, attitude, and environmental parameters during a sailboat's voyage and processing and analyzing the collected data, a comprehensive test and monitoring of the sailboat's navigation stability is achieved. By calculating the initial value of the navigation stability index based on the roll and pitch angles, the stability performance of the sailboat under its current attitude state can be preliminarily reflected. Further compensation for the stability index by incorporating wind speed, wind direction, and navigation direction allows the stability evaluation process to consider the impact of external wind environmental factors on the sailboat's navigation state. Simultaneously, the stability index compensation value is corrected based on navigation speed and acceleration, ensuring that the stability evaluation results adapt to the impact of changes in hull motion under different navigation states. By evaluating the stability level based on the final stability index value and displaying the relevant parameters and evaluation results, a more intuitive test and monitoring of sailboat navigation stability is achieved. This allows users to promptly obtain the sailboat's current navigation state and stability performance, improving the accuracy, reliability, and practicality of sailboat navigation stability testing.

[0069] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program goods. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program goods embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0070] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program goods according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0071] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0072] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A sailboat navigation stability testing and monitoring system, characterized in that, include: The parameter acquisition module is used to acquire the sailboat's navigation parameters, attitude parameters, and environmental parameters; wherein, the navigation parameters include sailing speed, sailing acceleration, and sailing direction; the attitude parameters include roll angle and pitch angle; and the environmental parameters include wind speed and wind direction. The parameter processing module is used to preprocess the navigation parameters, attitude parameters, and environmental parameters; The parameter analysis module is used to calculate the initial value of the navigation stability index based on the preprocessed roll and pitch angles, and to determine whether to compensate the initial value of the stability index based on the wind speed. If compensation is required, the initial value of the stability index is compensated based on the preprocessed wind speed, wind direction, and navigation direction to obtain the stability index compensation value. The parameter analysis module is also used to determine whether the stability index compensation value needs to be corrected based on the preprocessed sailing speed. If it is determined that correction is needed, the influence coefficient is calculated based on the preprocessed sailing speed and sailing acceleration, and the stability index compensation value is corrected based on the influence coefficient to obtain the final value of the stability index. The stability assessment module is used to assess the stability level based on the final value of the stability index to obtain the stability level. The display module is used to display navigation parameters, attitude parameters, environmental parameters, initial stability index, stability index compensation value, final stability index value, and stability level.

2. The sailboat navigation stability testing and monitoring system according to claim 1, characterized in that, The parameter processing module is used to preprocess the navigation parameters, attitude parameters, and environmental parameters, including: Anomaly detection is performed on the navigation parameters, attitude parameters, and environmental parameters to remove abnormal data that exceeds the preset detection range; The navigation parameters, attitude parameters, and environmental parameters after removing outliers are filtered. The filtered navigation parameters, attitude parameters, and environmental parameters are time-synchronized to correspond to the same navigation time.

3. The sailboat navigation stability testing and monitoring system according to claim 1, characterized in that, The parameter analysis module is used to calculate the initial value of the navigation stability index based on the preprocessed roll and pitch angles, including: Calculate the deviation angle between the roll angle and the preset roll angle threshold, and record it as the first angle; and calculate the ratio of the first angle to the preset roll angle threshold, and record it as the first deviation rate; Calculate the deviation angle between the pitch angle and the preset pitch angle threshold, and record it as the second angle; and calculate the ratio of the second angle to the preset pitch angle threshold, and record it as the second deviation rate. The initial value of the navigation stability index is calculated based on the first deviation rate and the second deviation rate.

4. The sailboat navigation stability testing and monitoring system according to claim 3, characterized in that, The calculation of the initial value of the navigation stability index based on the first deviation rate and the second deviation rate includes: If both the first deviation rate and the second deviation rate are less than or equal to zero, the initial value of the navigation stability index is 1. If the first deviation rate is less than or equal to zero and the second deviation rate is greater than zero, then the initial value of the navigation stability index is 0.

5. If the first deviation rate is greater than zero and the second deviation rate is less than or equal to zero, then the initial value of the navigation stability index is 0.

5. If both the first deviation rate and the second deviation rate are greater than zero and both are less than the preset maximum deviation value, then the initial value of the navigation stability index is 0.

1. Otherwise, the initial value of the navigation stability index is 0.

5. The sailboat navigation stability testing and monitoring system according to claim 4, characterized in that, When the parameter analysis module determines whether to compensate for the initial value of the stability index based on the wind speed, it includes: If the wind speed is greater than the preset wind speed threshold, it is determined that the initial value of the stability index should be compensated. If the wind speed is less than or equal to a preset wind speed threshold, it is determined that no compensation will be made for the initial value of the stability index.

6. The sailboat navigation stability testing and monitoring system according to claim 5, characterized in that, The parameter analysis module is used to compensate the initial value of the stability index based on the preprocessed wind speed, wind direction, and navigation direction. When obtaining the compensated stability index value, it includes: If the wind speed is greater than the preset wind speed threshold and the angle between the wind direction and the navigation direction is greater than or equal to the preset angle, the initial value of the stability index will be compensated by the first compensation coefficient. If the wind speed is greater than the preset wind speed threshold and the angle between the wind direction and the navigation direction is less than the preset angle, the initial value of the stability index is compensated by the second compensation coefficient. The compensation coefficient ranges from 1.2 to the first compensation coefficient to the second compensation coefficient to 1, and the stability index compensation value is the product of the initial value of the stability index and the compensation coefficient.

7. The sailboat navigation stability testing and monitoring system according to claim 6, characterized in that, The parameter analysis module is also used to determine whether to correct the stability index compensation value based on the preprocessed sailing speed, including: Compare the sailing speed with the preset speed range; If the sailing speed is within the preset speed range, it is determined that the stability index compensation value will not be corrected. If the sailing speed is not within the preset speed range, it is determined that the stability index compensation value should be corrected.

8. The sailboat navigation stability testing and monitoring system according to claim 7, characterized in that, The step of calculating the influence coefficient based on the preprocessed sailing speed and sailing acceleration, and correcting the stability index compensation value based on the influence coefficient to obtain the final value of the stability index includes: If the sailing speed is greater than the preset speed range and the sailing acceleration is not zero, the stability index compensation value is corrected by the first influence coefficient. If the sailing speed is less than the preset speed range and the sailing acceleration is not zero, the stability index compensation value is corrected by the second influence coefficient. If the sailing speed is greater than the preset speed range and the sailing acceleration is zero, the stability index compensation value is corrected by the third influence coefficient. If the sailing speed is less than the preset speed range and the sailing acceleration is zero, the stability index compensation value is corrected by the fourth influence coefficient. The influence coefficient ranges from 1.2 to the first influence coefficient, then to the second influence coefficient, then to the third influence coefficient, then to the fourth influence coefficient, and finally to 1. The final value of the stability index is the product of the stability index compensation value and the influence coefficient.

9. The sailboat navigation stability testing and monitoring system according to claim 1, characterized in that, The stability assessment module is used to assess the stability level based on the final value of the stability index. When obtaining the stability level, it includes: Set the index level range; If the final value of the stability index is zero, then the stability level is zero. If the stability index is greater than zero and less than the minimum value of the index level range, then the stability level is level one; If the stability index is within the index level range, then the stability level is level two; If the stability index is greater than the maximum value of the index level range, the stability level is level three; The stability levels, from lowest to highest, are level zero, level one, level two, and level three.

10. A method for testing and monitoring the sailboat's sailing stability, applied to the sailboat sailing stability testing and monitoring system as described in any one of claims 1-9, characterized in that, include: The system collects sailing parameters, attitude parameters, and environmental parameters of the sailboat; the sailing parameters include sailing speed, sailing acceleration, and sailing direction; the attitude parameters include roll angle and pitch angle; and the environmental parameters include wind speed and wind direction. The navigation parameters, attitude parameters, and environmental parameters are preprocessed; The initial value of the navigation stability index is calculated based on the pre-processed roll and pitch angles. It is then determined whether the initial value of the stability index needs to be compensated based on the wind speed. If compensation is required, the initial value of the stability index is compensated based on the pre-processed wind speed, wind direction, and navigation direction to obtain the stability index compensation value. Based on the preprocessed sailing speed, it is determined whether the stability index compensation value needs to be corrected. If it is determined that correction is needed, the influence coefficient is calculated based on the preprocessed sailing speed and sailing acceleration, and the stability index compensation value is corrected based on the influence coefficient to obtain the final value of the stability index. The stability level is obtained by evaluating the stability level based on the final value of the stability index. Displays navigation parameters, attitude parameters, environmental parameters, initial stability index, stability index compensation value, final stability index value, and stability level.

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