Parameter estimation system for ship motion models, method for estimating parameters of motion models, and program

Abstract

This provides a simple method for estimating the parameters of a ship's specific motion model. [Solution] A parameter estimation system for estimating the parameters of a ship motion model, Using the navigation log when the vessel navigates in a predetermined motion pattern, the navigation log indicates The parameters of the motion model specific to the vessel corresponding to the predetermined motion pattern are estimated. It has an estimation unit.

Description

Technical Field

[0001] The present invention relates to a parameter estimation system for a ship motion model, a method for estimating parameters of a motion model, and a program.

Background Art

[0002] Conventionally, technologies for controlling ship navigation based on a ship motion model have been developed.

[0003] For example, in Patent Document 1, regarding the control of automatic steering, a configuration is disclosed in which control parameters are set by dimensionalizing dimensionless motion parameters when the ship speed changes. Also, in Patent Document 2, regarding a ship autopilot, a configuration is described in which control parameters of an engine are corrected based on measured values such as sensors.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

[0006] In view of the above problems, the present invention provides a way to easily estimate the parameters of a ship-specific motion model. This is the purpose. [Means for solving the problem]

[0007] To solve the above problems, one embodiment of the present invention has the following configuration. That is, the operation of a ship A parameter estimation system for estimating the parameters of a dynamic model is: Using the navigation log when the aforementioned vessel navigates in a predetermined motion pattern, the navigation log indicates The parameters of the motion model specific to the vessel corresponding to the predetermined motion pattern are estimated. Estimation unit, It has.

[0008] Another embodiment of the present invention has the following configuration: namely, the parameters of the ship motion model The parameter estimation method for estimating the data is: Using the navigation log when the aforementioned vessel navigates in a predetermined motion pattern, the navigation log indicates The parameters of the motion model specific to the vessel corresponding to the predetermined motion pattern are estimated. Estimation process, It has.

[0009] Another aspect of the present invention has the following configuration. That is, a program that causes a computer to use the navigation log when the ship travels in a predetermined navigation pattern, and estimate the parameters of the motion model specific to the ship corresponding to the predetermined motion pattern indicated by the navigation log by an estimation unit,

Advantages of the Invention

[0010] According to the present invention, it becomes possible to easily estimate the parameters of the motion model specific to the ship.

Brief Description of the Drawings

[0011] [Figure 1] Block configuration diagram showing a configuration example of a parameter estimation system for a motion model according to a first embodiment of the present invention [Figure 2] Block configuration diagram showing a configuration example of a ship according to a first embodiment of the present invention [Figure 3] Sequence diagram showing the flow of processing according to a first embodiment of the present invention [Figure 4] Schematic diagram showing an example of a motion pattern of a ship according to a first embodiment of the present invention [Figure 5] Schematic diagram showing the input / output related to parameter estimation according to a first embodiment of the present invention [Figure 6] Flowchart of processing according to a first embodiment of the present invention [Figure 7] Sequence diagram showing the flow of processing according to a modification of a first embodiment of the present invention [Figure 8] Flowchart of processing according to a modification of a first embodiment of the present invention

Embodiments for Carrying Out the Invention

[0012] Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings and the like. Note that hereinafter ​The embodiments described below are just one example for illustrating the present invention and do not limit the present invention. It is not intended to be interpreted as such, and all configurations described in each embodiment are not necessarily the same. The configuration shown in each drawing is not necessarily essential for solving the problems of the present invention. For identical components, the same reference number is used to indicate the correspondence. To avoid redundancy and to facilitate understanding by those skilled in the art, some parts of the explanation have been omitted or simplified. Some parts may be abbreviated. For example, detailed explanations of already well-known matters or parts with essentially the same structure may be omitted. In some cases, redundant explanations may be omitted.

[0013] <First Embodiment> [System Configuration] Figure 1 shows the parameter estimation system for a motion model according to the first embodiment of the present invention (hereinafter referred to as "single"). This is a schematic diagram showing an example configuration of what is called a "parameter estimation system" for motion models. The parameter estimation system estimates the parameters of the motion model related to the automatic navigation of a ship. This is a system for constructing a control model corresponding to the vessel in question. The parameters of the motion model... The estimation system may be used in a form mounted on a ship, or it may be configured as a separate device. Therefore, it is configured to provide the ship with a control model based on a motion model with estimated parameters. It may also be done. The parameter estimation system 100 is, for example, PC (Personal Computer). It may be composed of an information processing device such as an computer, or an ECU installed on a ship. Even if it is configured with a control device such as an Electronic Control Unit good.

[0014] The parameter estimation system 100 includes a control unit 101, a storage unit 102, an input unit 103, and an output unit. It is composed of part 104 and communication part 105. Each part is connected to the others by an internal bus, etc. It is configured to enable communication.

[0015] The control unit 101 is responsible for controlling the operation of the parameter estimation system 100. For example, CPU (Central Processing Unit) and GPU (Graphics Processing Unit) It consists of a Physics Processing Unit, etc., and is stored in the memory unit 102. It provides various functions by reading and executing various programs and data.

[0016] The memory unit 102 is a program for executing various control processes and functions performed by the control unit 101. It is a memory device for storing data and other information. The memory unit 102 is a RAM (Random Memory). Access Memory), ROM(Read Only Memory), HD D (Hard disk drive), flash memory, and other volatile / non-volatile memory It consists of devices.

[0017] The input unit 103 consists of a mouse, keyboard, microphone, etc., and receives input from the user, etc. It accepts input for operation. The output unit 104 consists of a display, speaker, etc. It outputs various types of data. The output from the output unit 104 includes visual data such as images, sounds, and vibrations. This may be either auditory or tactile output. Also, touch panel displays, etc. The input unit 103 and the output unit 104 may be integrated into a single unit.

[0018] The communication unit 106 is a communication unit for communicating with external devices via a network (not shown). It is an interface. The communication unit 106 uses multiple communication standards depending on the network configuration. The network may be configured to accommodate the following: the internet, intranet, etc. To, wireless LAN (Local Area Network) and WAN (Wide Area Network) It consists of a Network, etc. Note that it also includes communication standards related to the network and wired / Wireless communication is not particularly limited; a network can be constructed by combining multiple communication standards. It may be done.

[0019] Figure 2 is a block diagram showing an example of the configuration of a ship according to this embodiment. The ship 200 is according to this embodiment. Using a control model constructed based on the estimation results of the parameters of the motion model related to the application form The ship 200 is configured to enable automatic navigation. The ship 200 includes a control unit 201, a memory unit 202, and a control unit 201. The components include the working unit 203, the drive unit 204, the output unit 205, the sensor unit 206, the antenna unit 207, and It consists of camera 208.

[0020] The control unit 201 is responsible for controlling the ship 200. For example, the CPU (Central Pro processing unit) and GPU (Graphics Processing Unit) and GPU (Graphics Processing Unit) It consists of dedicated circuits, etc., and various programs and data stored in the memory unit 202. By reading and executing the data, it provides various functions.

[0021] The memory unit 202 is used to perform various control processes and functions provided by the control unit 201. It is a memory device for storing programs, data, etc. The memory unit 202 is RAM (R andom Access Memory), ROM (Read Only Memory) y), HDD (Hard Disk Drive), flash memory, etc. (Volatile / Non-volatile) It is composed of a memory device.

[0022] The control unit 203 receives various operations related to the navigation of the vessel 200. The control unit 203 is Accelerator lever, steering wheel, joystick lever, shift lever, various switches, etc. It may include the following. The operations here include operations related to navigation such as steering and acceleration / deceleration, This may include operations related to each part that constitutes the ship 200. The drive unit 204 is controlled by the control unit 201. The drive unit 20 performs navigation-related operations of the vessel 200 based on instructions and operations of the control unit 203. 4 consists of, for example, an engine, motor, thruster, propeller, pump, etc. This is acceptable. Furthermore, the method of the drive unit 204 is not particularly limited and can be described in the following motion model. Any configuration that enables automatic navigation using parameter estimation and control models is acceptable.

[0023] The output unit 205 consists of a display, speakers, etc., and outputs various types of data. The output from the output unit 205 is a visual, auditory, and tactile output, such as images, sounds, and vibrations. Either is acceptable. For example, the output unit 205 may be the sensor unit 206, the antenna unit 207, Various data acquired by camera 208 are displayed on a designated user interface screen. Good. Also, the output unit 205 provides information for navigation using map information, etc. You may output it.

[0024] The sensor unit 206 consists of multiple sensors for acquiring information about the surroundings and interior of the ship 200. It consists of the following. The sensor unit 206 includes, for example, an anemometer, an acceleration sensor, a temperature sensor, Humidity sensor, LiDAR, radar, gyroscope, position sensor, rotation sensor, sonar Multiple types of sensors may be included. Furthermore, multiple sensors of a single type may be provided. The various sensors included in the sensor unit 206 acquire information about the entire ship 200, as well as the ship It may be configured to acquire information on a predetermined part that makes up 200. Antenna section 207 This is the part for sending and receiving information with the outside world. The antenna section 207 is, for example, a GNS S (Global Navigation Satellite System) Na, or AIS (Automatic Identification System) Multiple types of antennas, such as antennas, may be included. Camera 208 captures the surrounding image of the ship 200. This is an imaging device for acquiring images. The orientation of the image that can be acquired by camera 208 is not particularly limited. It is not meant to do that, but rather it may be configured to acquire images in all directions.

[0025] [Parameter estimation for motion models] Regarding parameter estimation of the motion model related to the automatic operation of the ship 200 in this embodiment Let me explain. Figure 3 shows the construction of a control model including parameter estimation of the motion model according to this embodiment. This is a sequence diagram showing the flow. In the parameter estimation of the motion model according to this embodiment, In this embodiment, the navigation log 310 obtained when the vessel 200 actually sails is used. The navigation log 310 is composed of self-position information 311 and drive information 312. Self-position information 311 is information obtained through self-position estimation, and is the current position (latitude, longitude). This includes altitude, azimuth angle, and velocity. The method of self-position estimation is not particularly limited. Publicly known methods may be used. For example, see Japanese Patent Publication No. 2023-041501 by the present applicant. The self-localization method described in [reference] may be used.

[0026] The drive information 312 includes the propeller rotation speed (hereinafter simply referred to as "rotation speed") and the rudder angle. The information included in this navigation log 310 is an example, and other information may be included. For example, The dynamic information 312 may further include torque, acceleration, propeller rotation direction, etc. Each piece of information included in the line log 310 is from the sensor unit 206 and antenna unit installed on the ship 200. The data was acquired by camera 207 and camera 208, and is recorded in conjunction with the time information at the time of acquisition. It is recorded. The navigation log 310 may be recorded during manual navigation or during automatic navigation. This may be done. In this example, it will be explained as being recorded during automatic navigation.

[0027] In step S301, the parameter estimation system 100 acquires the navigation log 310. The navigation log 310 here is a navigation log of a predetermined range for estimating the parameters of the motion model. You can either obtain only the line log, or you can obtain the navigation log 310 and then make it available to the user. The system may also accept the specification of a range. In addition, the parameter estimation system 100 will use the acquired navigation data. Pre-processing may be performed on log 310. Pre-processing here refers to the navigation log 310. The process may include deriving values ​​to be used in subsequent steps from the information contained therein.

[0028] In step S302, the parameter estimation system 100 uses the acquired navigation log 310 This is used to determine the motion pattern of vessel 200. Figure 4 shows an example of a motion pattern. Here are five examples, but we can cover many more movement patterns. Figure 4(a) is Figure 4(b) shows the motion pattern of moving in a straight line at a constant velocity. Figure 4(c) shows the motion pattern of a U-turn by turning right at a constant speed. Figure 4(d) This shows the motion pattern of going straight, then opening the throttle fully, and then turning right. Figure 4(e) This shows a meandering motion pattern from a left turn to a right turn at a constant speed. Note that the acquired navigation log 3 In step 10, multiple movement patterns may be determined. Alternatively, multiple movement patterns may be determined. They can be combined and used as new movement patterns.

[0029] In step S303, the parameter estimation system 100 determines the motion pattern Next, we set the gain (weight) for each parameter included in the calculation formula used for parameter estimation. This means that the behavior of the ship 200 changes according to the movement pattern of the ship 200. Therefore, the weights of each parameter included in the motion model are adjusted according to the motion pattern. The gain for each parameter set here is predefined in relation to the motion pattern. They may be present, or the user may set them. Examples of parameters for setting weights will be discussed later. do.

[0030] In step S304, the parameter estimation system 100 uses the navigation log 310 and gain The parameters of the motion model are estimated using the configured calculation formula. In this embodiment, Lameter estimation uses the known finite-time optimal estimation method MHE (Moving Hori We use zon Estimation. MHE is a well-known method, and in finite time... An estimation method for a nonlinear model that can estimate the state at a given time using measured values ​​at a given time. This is the method. An example of a parameter estimation method for motion models using MHE will be discussed later. Oh, the estimation method is not limited to MHE, but can be any estimation method using other nonlinear models. It may be used.

[0031] In step S305, the parameter estimation system 100 uses the estimated parameters Then, a control model for controlling the ship 200 is constructed. The control model is an estimated motion model. Based on each of these parameters, control values ​​are determined to guide the vessel 200 along the desired navigation path. This is how it is constructed. The constructed control model is associated with the ship 200 and its motion patterns. The parameter estimation system 100 and the ship 200 are configured as separate devices. In total, the control model is made available from the parameter estimation system 100 to the ship 200. It is held.

[0032] In step S306, the vessel 200 was constructed using the parameter estimation system 100. A control model is used to perform predictive control related to automatic navigation.

[0033] In step S307, the ship 200 controls the drive unit 20 according to the control values ​​based on predictive control. By driving 4, the ship 200 will perform automatic navigation. The navigation log 310 is acquired in a timely manner and stored in a manner that makes it available for provision to the parameter estimation system 100. You may do so.

[0034] Figure 5 is a conceptual diagram illustrating the parameter estimation of the above motion model. In MHE estimation, the gain (weight) setting for each parameter corresponds to the motion pattern. This is performed on the calculation formula. Then, the MHE calculation is performed with gain settings for each parameter. Input parameters are entered into the formula. In this example, the input parameter is the ship 20 Speed, turning speed, and rudder angle velocity are set to 0. These input parameters are used in the navigation log 31. You can use the information contained in 0 as is, or you can use the information contained in the navigation log 310. You may derive a different value based on this and use it. And, as an estimated parameter, at a certain time The mass, added mass, moment of inertia (yaw), and added moment of inertia of ship 200 in the future. Yaw force, resistance / drag proportional to velocity and acceleration, characteristics of rotational speed versus thrust, rotational speed The rudder angular velocity is obtained in degrees. Note that the estimated parameters are just examples and are not limited to these. Instead, other parameters may be estimated.

[0035] Furthermore, there are no particular limitations on the time to be estimated or the range (time interval) used as input. For example, input information shown in the past navigation log 310 for the last 20 seconds from the current time. The equations of motion for the MHE are constructed to be used as a meter and to estimate the parameters after 0.5 seconds. You may do so.

[0036] Here, we will explain an example of the method used in steps S302 to S304. In this example, we will use the ENU coordinate system as the coordinate system for explanation. The ENU coordinate system has an E axis (E A three-dimensional coordinate system consisting of the ast (N-axis), N-axis (North), and U-axis (Up), and is used by ships. Set the current position at 200 as the origin. The E axis is set to the X direction, the N axis to the Y direction, and the U axis to the Z direction. In the correspondence, the North, East, and Up directions are considered positive directions. Also, the hull is divided into A thrust that moves in the positive direction of the axis is considered positive. A rudder angle of 0 is defined as the negative direction of the X-axis (stern direction).

[0037] In this embodiment, continuous-time model predictive control (MPC: Model Predicate Control) is used. To estimate the parameters using the tive control, use the following equations (1)~(9 ) is used. Note that here we show an example using a relatively simple model, This is not the only option, and more complex models may be used. Furthermore, in this embodiment, Therefore, the explanation will assume the size of a relatively small vessel. Accordingly, the following models may be adjusted as appropriate.

[0038]

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[0039]

number

[0040]

number

[0041]

number

[0042]

number

[0043] Of the parameters shown above, the following values ​​are used for self-localization (UKF(Unscen ted Kalman Filter) / EKF(Extended Kalman F This shows the state obtained by (ilter). For self-localization, GNSS (Global Nine Star Ki System) is used. navigation satellite system) and IMU (Inertial Information obtained from sensors such as the Measurement Unit is fused together. The values ​​used are those shown in Figure 3, including the self-position information 311 and drive information 312. This is obtained and derived from the navigation log 310.

[0044]

number

[0045] Furthermore, among the parameters listed above, the following values ​​are eigenvalues ​​for each vessel. This parameter is the one to be estimated by MHE in this embodiment.

[0046]

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[0047] The thrust model in the ship 200 is included in the drive unit 204 provided in the ship 200. It varies depending on the number and arrangement of cutters (not shown). Here, we are considering an outboard motor without considering hydrodynamics. We will explain using an example of a single-actuator thrust model. The configuration of the ship's actuators is as follows: There are also inboard and outboard motors, and inboard motors, and thrust models corresponding to these may be used. Outboard motors are, A propeller (not shown) that generates thrust in the X direction, and a mechanism that rotates the thrust direction of the propeller around the Z axis. It is equipped with a steering mechanism that can be turned, and these are mounted together on the outside of the hull.

[0048] The thrust generated by the actuator (not shown) installed on the ship 200 and applied to the hull is It can be calculated using the following formula (10).

[0049]

number

[0050] Of the above values, L x , L y This is based on values ​​obtained by measuring the installation position of the outboard motor. It is then identified. Combining equation (10) above with equations (1) to (9) which show the ship's motion model By rearranging these equations, we arrive at the following equation (11).

[0051]

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[0052] Here, the thrust generated by the propeller (not shown) of ship 200 is generally... Based on information such as characteristics, engine characteristics, and torque sensors installed on the propeller shaft, It is assumed that the estimate will be made by raising the water level. However, this method is difficult to apply to small vessels. Therefore, in this embodiment, the thrust generated by the propeller is a function of rotational speed. Convert from rotational speed. For parameter estimation, GLF (Generalized L) is used. Using the ogic Function, it is defined as follows. Equation (12) ~ In equation (14), A, K, B, v, C, and M are coefficients, respectively, and the actuaries such as outboard motors Since it depends on the configuration of the ethode, parameter estimation is necessary.

[0053]

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[0054] In this example, normalization is applied to the bound / s when estimating parameters with MHE. This eliminates differences between vessels, such as cale values, and simplifies configuration. This conversion process is performed within the MPC. The thrust F of the outboard motor was obtained using MPC, without conducting the test. P Convert inversely to rotational speed r and actuate Output to the terminal.

[0055] The above motion model is defined as the state equation of a nonlinear system by the following equation (15). .

[0056]

number

[0057] Furthermore, in this example, the optimization problem handled by MPC is given by equation (16) below. In this case, by treating x(t)=v(t), MPC is performed to control the tracking. Since the calculation process for nonlinear MPC is publicly known, the details will be omitted here.

[0058]

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[0059] Then, MHE is used as a method for estimating the state. In this example, the optimization problem is as follows: It can be defined as in equation (17).

[0060]

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[0061] By solving this optimization problem, we can estimate the parameters of a motion model from N state data. The state data is determined using the velocity and angular velocity shown in equations (5) and (6), with u being the rotation. Input the number and rudder angle information. If the observation noise v is large, the model's prediction becomes difficult. Therefore, the accuracy of state data is important. For this reason, self-position estimation in ships, that is It is desirable that the accuracy of the self-positioning information 311 be higher.

[0062] Furthermore, equation (18) shows which parameters are given more weight during the estimation process. Set it as a weight.

[0063]

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[0064] Similarly, as shown in equations (19) and (20) below, observation noise v, process noise We will also assign weights to w.

[0065]

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[0066] The weights described above are set according to the characteristics of the state, and therefore depend on the ship's motion pattern. The change due to is small. On the other hand, the weights P for each parameter as shown in equation (21) below P The degree of influence changes depending on the movement pattern of the ship 200, therefore the movement pattern can be determined. Therefore, adjustments are needed. For this reason, the movement pattern is determined in step S302, and Based on the results, the gain is set in step S303.

[0067]

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[0069] Next, we will explain examples of parameter estimation corresponding to each motion pattern.

[0070] (In the case of linear motion) For example, in the case of linear motion that accelerates in stages, the ship's motion is given by the above equation (11) as follows: Let's consider the conditional statement.

[0071]

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[0072] Furthermore, in the case of a vessel with a single outboard motor, the actuator is generally positioned in the center of the hull. Therefore, L y Let = 0. The ship's motion at this time is given by the following equation based on equation (11) above. (22)

[0073]

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[0074] F p As mentioned above, this is converted using GLF, so we need to take this into consideration and further refine equation (22). Therefore, we obtain the following equation (23).

[0075]

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[0076] In this way, the parameters that need to be estimated are limited, making estimation easier. At this point, the remaining U The following weighting settings for each are important.

[0077]

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[0078] Furthermore, in straight-line motion, it is possible to navigate by making maximum use of the engine's output, thus increasing thrust. This also makes it easier to estimate the following parameters related to GLF, which are the conversion coefficients for rotational speed.

[0079]

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[0080] On the other hand, the impact on parameters necessary for movement in the Y direction (left-right direction of the ship) and turning motion is small. Furthermore, performing estimation on this increases the likelihood of converging to incorrect parameters, therefore, the following The weights are adjusted to suppress the influence.

[0081]

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[0082] By taking these factors into account and setting weights, and then performing parameter estimation using MHE, the straight line We will estimate the parameters related to this and the conversion coefficients between thrust and rotational speed.

[0083] (For low-speed and high-speed turns) This section explains the motion patterns of turning motion. The terms "high speed" and "low speed" used here are not particularly limited. It is not something that is predetermined, but rather something that is arbitrarily set based on standards that are specified in advance for each vessel. For example, a speed faster than a predetermined speed is treated as "high speed," and a speed faster than that predetermined speed Slow speeds can be treated as "low speed."

[0084] Regarding the turning motion pattern, in order to improve accuracy, each parameter is measured at high speed. It is preferable to perform the estimation at either a low speed or a fast turn. (1) The Coriolis force shown in the following equations (24) and (25) among the elements included in (1), Drag has a significant impact.

[0085]

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[0086]

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[0087] Therefore, relatively speaking, the elements included in equation (1) above are shown in equation (26) below. Changes in added mass become difficult to detect.

[0088]

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[0089] Considering the above reasons, the parameters of the added mass are as follows, using the turning motion pattern at low speed. By estimating this, it becomes possible to make more accurate estimations even at high speeds.

[0090]

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[0091] Furthermore, the following parameters related to speed and turning in the Y direction are also important.

[0092]

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[0093] On the other hand, the following parameters related to the square of the velocity are influenced during high-speed turning motion patterns. It would be good to decide.

[0094]

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[0095] At this time, the parameters proportional to the speed listed below also have a significant impact, so these should also be given importance. It is desirable to use it.

[0096]

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[0097] (Estimated flow) By performing parameter estimation in the following order, the model parameters for the hull and thrust can be shortened. It becomes possible to estimate this in terms of time. (1) A pattern of repeatedly accelerating and decelerating in stages while moving in a straight line. (2) A pattern of steady circular turns, figure-eight movements, and meandering at a sufficiently low speed. (3) High-speed steady-state circular turns, figure-eight motion, and meandering patterns

[0098] Furthermore, by combining the following methods, more accurate parameter estimation is possible. It becomes Noh. • Within each pattern, P P The estimation is performed iteratively, gradually changing the weights. • After performing the estimation in the order above, P P Change the weights and the above patterns (1) to (3) Let's re-estimate the value. • To cancel out the effects of wind and currents, data for straight-line motion also uses data in the opposite direction. To estimate. That is, in addition to estimating using a motion pattern that moves in a straight line in a certain direction, the opposite direction as well. The estimation is performed using a motion pattern that moves in a straight line.

[0099] [Processing flow] Figure 6 is a flowchart of the process including parameter estimation of the motion model according to this embodiment. Yes. This processing flow is, for example, when the control unit 101 of the parameter estimation system 100 is the storage unit This is achieved by reading and executing programs and various data stored in 102. Here, the parameter estimation system 100 and the ship 200 are configured as separate devices. We will explain it assuming that it is already set up. And, among the steps shown in Figure 5, the parameter estimation system This shows the process that is carried out using TEM100.

[0100] Before this processing flow is initiated, the target vessel 200 will perform a voyage, at which time The navigation log 310 is assumed to be available. The contents of the navigation log 310 are as follows: While not limited to this, for example, it corresponds to the movement pattern of interest as shown in Figure 4. Assume that the data has been obtained.

[0101] In step S601, the parameter estimation system 100 acquires the navigation log 310. At this time, the parameter estimation system 100 applies the acquired navigation log 310 to the parameters. Preprocessing such as retaring may be performed. Preprocessing involves values ​​used in each subsequent step. This may include a process for deriving it from information contained in the navigation log.

[0102] In step S602, the parameter estimation system 100 is acquired in step S601. The motion pattern shown in the navigation log 310 is determined. The type of motion pattern to be determined is predetermined. It is acceptable for it to be stipulated.

[0103] In step S603, the parameter estimation system 100 makes the determination in step S602. The gain (weight) for each parameter corresponding to the motion pattern is set here. The gain can be predetermined in accordance with the motion pattern. Gains for parameters that are identified independently of the signal may also be set.

[0104] In step S604, the parameter estimation system 100 is gay in step S603. For the MHE calculation formula that has been set, each input parameter shown in the navigation log 310 is entered. By applying force, various parameters of the motion model at a desired time are estimated. The determination is based on the calculation formulas described above.

[0105] In step S605, the parameter estimation system 100 is estimated in step S604. Using the parameters of the motion model, a control model is constructed. At this time, the estimated parameters To suppress rapid changes in the value of the signal, use an LPF (Low Pass Filter), etc. This may be applied. This improves the stability of the behavior in navigation control using a control model. It becomes possible to improve it.

[0106] In step S606, the parameter estimation system 100 is constructed in step S605. The control model is recorded in correspondence with the motion pattern. Then, this processing flow is terminated. .

[0107] In the above example, the motion pattern is determined from the navigation log 310, and the corresponding motion pattern is... The gain setting is being performed (steps S602~S603). However, the navigation log 310 If the motion pattern to be shown is predetermined, these steps can be omitted, and the motion pattern The process in step S604 is performed using a calculation formula that has been pre-configured to set the corresponding gain. That's fine.

[0108] [Differentiation] The above embodiment is an example using a navigation log obtained during the automatic navigation of the vessel 200. This was shown. As a variation, a form for recording a navigation log during manual navigation will be described.

[0109] Figure 7 shows the flow of constructing a control model, including parameter estimation of the motion model in this modified example. This is a sequence diagram showing the configuration of the navigation log 720 and steps S704 to S7 Step 09 is shown in Figure 3, navigation log 310 and steps S301 to S307. It is similar to the previous method. However, the method for generating the navigation log is different.

[0110] In step S701, the ship 200 communicates to the operator of the ship 200 via the output unit 205, etc. In contrast, manual operation is instructed. The instructions here are presented based on a predetermined movement pattern. It can be done.

[0111] In step S702, the ship 200 receives control commands for manual operation via the control unit 203. We accept it.

[0112] In step S703, the ship 200, based on the control command received in step S702 Next, the ship 200 is driven by operating the drive unit 204. At this time, the ship 200 is sensor Information acquired in section 206, etc., is sequentially recorded as the navigation log 720. Note that step S A predetermined motion pattern corresponding to the instruction presented in 701, and the drive control in step S703. Even if you determine whether the motion pattern shown in the resulting navigation log 720 matches, Good. If the motion patterns do not match at this time, the operator will be instructed again to manually steer the vessel. You may instruct them to do so.

[0113] Then, using the navigation log obtained through manual operation in this manner, the same procedure as in Figure 3 is followed. We will estimate the parameters of the dynamic model and construct a control model.

[0114] Figure 8 includes parameter estimation of the motion model based on the processing sequence shown in Figure 7. This is a flowchart of the process. Here, the parameter estimation system 100 and the ship 200 are shown. It will be explained as being composed of an integrated whole. Therefore, this processing flow is, for example Then, the control unit 201 of the ship 200 reads the programs and various data stored in the memory unit 202. It is achieved by breaking away from the norm and executing it.

[0115] Before this processing flow starts, information regarding the movement pattern is pre-registered and provided to the user. In contrast, the system is configured to allow the display of instructions for manual operation.

[0116] In step S801, the vessel 200 determines the maneuvering pattern for manual operation. The decision prioritizes maneuvering patterns that correspond to motion patterns with less accumulated navigation log 720. The decision may be made based on a general principle, or the maneuvering pattern may be determined by focusing on a specific motion pattern. .

[0117] In step S802, the vessel 200 follows the maneuvering pattern determined in step S801. The operator is instructed to steer the vessel based on the following: rudder angle, acceleration / deceleration, and steering. You may indicate the timing, etc. There are no particular restrictions on the method of presentation; it can be done via screen ( (Not illustrated) It may be displayed and presented on a screen, or instructions may be given via voice or other means.

[0118] In step S803, the vessel 200 receives the operator's steering instructions. 200 operates the drive unit 204 based on the received maneuvering instructions and moves the ship. After the manual navigation based on the turn is completed, proceed to step S805.

[0119] In step S804, the vessel 200 performs a navigational operation based on the navigation in step S803. The log 720 is obtained. At this time, the parameter estimation system 100 obtains the navigation log 7 For 20, preprocessing such as filtering may be performed. Preprocessing includes each of the subsequent processes. The process may include deriving the values ​​used in the process from the information contained in the navigation log 720.

[0120] In step S805, vessel 200 uses the navigation log 720 obtained in step S804. Based on this, the motion pattern is determined. The determination result here is mapped to the navigation log 720. You may record it.

[0121] In step S806, the vessel 200 follows the maneuvering pattern determined in step S801. Then, it is determined whether the motion patterns determined in step S805 match. The determination may be made based on, for example, the similarity of the navigation routes. If the patterns match, If this is determined (step S806: YES), the processing of vessel 200 proceeds to step S807. Hmm. On the other hand, if the patterns do not match, that is, if the navigation is not being carried out according to the navigation instructions. In the case of (step S806: NO), the processing of vessel 200 returns to step S802, and the processing continues. Repeat. At this point, return to step S801 and execute a different maneuvering pattern. You may do so.

[0122] In step S807, the ship 200 moves in the motion pattern determined in step S805. The gain is set for each corresponding parameter. The gain set here is determined by the motion pattern It may be predetermined to correspond to this.

[0123] In step S808, the vessel 200 has an MH gain set in step S807. By inputting each input parameter shown in the navigation log 720 into the calculation model of E, Estimate the parameters of the motion model at a desired time. For parameter estimation, see above. This is based on the calculation formulas described above.

[0124] In step S809, the ship 200 is the P-type of the motion model estimated in step S808. Using the parameters, a control model is constructed. At this time, the rapid changes in the estimated parameter values Even if you apply an LPF (Low Pass Filter) to suppress such changes Good. This improves the stability of the behavior in navigation control using the constructed control model. It becomes possible to raise the level.

[0125] In step S810, the ship 200 operates the control model constructed in step S809. The movement pattern is recorded and associated with the data. Then, this processing flow is terminated.

[0126] Furthermore, the ship 200, based on the operator's instructions, will use the control model constructed in step S810. Automatic navigation is possible using the system. Furthermore, the above processing flow is repeated to provide feedback. The system may be configured to allow for improved accuracy of the control model.

[0127] Furthermore, when manual navigation is being performed, the control values ​​and parameters from the manual control are estimated. The control values ​​are compared with the control values ​​from the control model based on the motion model, and based on the difference, manual control The control value may be adjusted by the operator. Alternatively, the difference may be notified to the operator.

[0128] In summary, this embodiment makes it possible to easily estimate the parameters of a ship-specific motion model. This becomes possible. Furthermore, by using MHE, complex processing involving many parameters becomes possible. This makes it possible to improve robustness in parameter estimation.

[0129] <Other Embodiments> The specifications, characteristics, size, and shape of the vessel to which the parameter estimation process of the above motion model can be applied. These are not particularly limited. For example, even a vessel with a small amount of accumulated navigation logs can... The method described in the application for the invention is applicable.

[0130] Also, in the present invention, a program or an application for realizing the functions of the above-described one or more embodiments is supplied to a system or device using a network, a storage medium, or the like , and it can also be realized by a process in which one or more processors in a computer of the system or device read and execute the program.

[0131] Also, it may be realized by a circuit (for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array)) that realizes one or more functions. <​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​Parameter estimation system for estimating the parameters of a motion model for a ship (e.g., 200) (For example, 100), Using the navigation log when the aforementioned vessel navigates in a predetermined motion pattern, the navigation log indicates The parameters of the motion model specific to the vessel corresponding to the predetermined motion pattern are estimated. Estimation unit (e.g., 101), A parameter estimation system having the following characteristics. This configuration allows for, for example, the easy estimation of parameters in a ship-specific motion model. It becomes possible.

[0136] (Technology 2) The estimation unit determines the predetermined motion pattern shown in the navigation log, and the determined In accordance with the specified motion pattern, the gain for the parameters included in the motion model The parameter estimation system described in Technology 1 sets the parameters. This configuration allows, for example, setting gains in accordance with motion patterns for each ship. This allows for more accurate parameter estimation of the motion model in response to turns.

[0137] (Technology 3) The predetermined motion patterns include a pattern of gradual acceleration and deceleration in a straight line, and a steady-state rotational motion. Parameters described in Technique 1 or Technique 2 include rotations, figure-eight motion, and meandering patterns. Data estimation system. This configuration allows for the creation of ship-specific motion models that account for various motion patterns in ships. This makes it possible to estimate the parameters.

[0138] (Technology 4) The estimation unit, (1) A pattern of repeatedly accelerating and decelerating in stages while moving in a straight line. (2) A pattern of steady-state turning, figure-eight motion, and meandering at a first speed faster than a predetermined speed. (3) A pattern of steady circular turning, figure-eight movement, or serpentine movement at a second speed slower than the predetermined speed , , the parameter estimation system according to Technique 3, which estimates the parameters of the motion model in the order of . With this configuration, by defining the estimation order according to the motion pattern, more accurate estimation of the parameters of the motion model becomes possible.

[0139] (Technique 5) The estimation unit estimates the parameters of the motion model by repeating while changing the gain in the same motion pattern, as described in any one of Techniques 2 to 4 parameter estimation system. With this configuration, it becomes possible to further improve the accuracy of parameter estimation.

[0140] (Technique 6) In the straight-ahead motion pattern, the estimation unit estimates the parameters of the motion model using the navigation log moving in a predetermined direction and the navigation log moving in the direction opposite to the predetermined direction, as described in any one of Techniques 2 to 5 parameter estimation system. With this configuration, it is possible to suppress the influence of external factors such as waves and wind and further improve the accuracy of parameter estimation of the motion model in the straight-ahead motion pattern.

[0141] (Technique 7) Among the plurality of parameters included in the motion model for the ship, the estimation unit estimates a predetermined parameter using the navigation log corresponding to a predetermined motion pattern, as described in any one of Techniques 1 to 6 parameter estimation system. With this configuration, for example, it becomes possible to switch the target of parameter estimation according to the motion pattern such as high-speed turning and low-speed turning.

[0142] (Technology 8) The aforementioned navigation log includes self-position information and driving information. The aforementioned self-position information includes at least one of the ship's current position, azimuth angle, and speed. Including, The aforementioned drive information includes at least one of the propeller rotation speed and rudder angle, from technique 1 to technique A parameter estimation system as described in any of the methods described in Article 7. This configuration allows for, for example, the use of the ship's own position information and navigation drive information to determine the ship's unique position. This makes it possible to estimate the parameters of the motion model.

[0143] (Technology 9) We use MHE (Moving Horizon Estimation) to estimate the parameters of a nonlinear motion model. A parameter estimation system described in any of the technologies 1 to 8. According to this configuration, for example, compared to a linear model, the parameters of a more complex motion model can be... This enables parameter estimation. Furthermore, it allows for improved robustness in parameter estimation. This is the result.

[0144] (Technology 10) A recording unit (e.g., 202) for recording the navigation log of the aforementioned vessel, An instruction unit (for example, 201, 205) and, Manual ship operation, which is performed in response to instructions from the instruction unit and recorded in the recording unit. A determination unit (for example, 2) determines whether the navigation log matches the predetermined motion pattern. 01) and, It has, If the determination unit determines that the indicator unit does not match, the predetermined motion part will be called again. Instructions for manually maneuvering the vessel based on turns, as described in any of Techniques 1 through 9. A parameter estimation system. With this configuration, for example, by performing manual steering, the desired navigation log can be obtained. This will make it possible to do so. Furthermore, it will be possible to improve the operability for operators performing manual steering.

[0145] (Technology 11) The navigation log of the aforementioned vessel is recorded when the vessel is manually operated based on the predetermined motion pattern. The recorded navigation log, or the automatic maneuver performed based on the predetermined motion pattern. One of the recorded navigation logs, the parameter described in any of Techniques 1 through 10 A system for estimating data. According to this configuration, the navigation log, which includes a predetermined motion pattern, is generated when the ship is automatically operated or The navigation log from when the ship was sailing using either autopilot or autopilot was used to create a motion model specific to that ship. It becomes possible to estimate the lamaturates.

[0146] (Technology 12) The motion model estimation system is installed on the ship, and is one of the technologies 1 to 11. The parameter estimation system described above. This configuration allows for, for example, real-time parameter estimation and automated navigation. This becomes possible.

[0147] (Technology 13) A parameter estimation method for estimating the parameters of a ship motion model, Using the navigation log when the aforementioned vessel navigates in a predetermined motion pattern, the navigation log indicates The parameters of the motion model specific to the vessel corresponding to the predetermined motion pattern are estimated. estimation process, A parameter estimation method having the following characteristics. This configuration allows for, for example, the easy estimation of parameters in a ship-specific motion model. It becomes possible.

[0148] (Technology 14) A computer (for example, 100), Using the navigation log when the vessel navigates in a predetermined motion pattern, the navigation log indicates the aforementioned Estimation of parameters of a motion model specific to the ship corresponding to a predetermined motion pattern. Section (for example, 101), A program designed to function as such. This configuration allows for, for example, the easy estimation of parameters in a ship-specific motion model. It becomes possible. [Industrial applicability]

[0149] This invention, for example, estimates the parameters of a motion model used in the automatic steering of a ship. It is useful as a device, system, method, or program for that purpose. [Explanation of symbols]

[0150] 100... Parameter estimation system. 101... Control Unit 102...Storage section 103...Input section 104…Output section 105... Communications Department 200…ship 201... Control Unit 202...Storage section 203...Operation unit 204…Drive unit 205...Output section 206...Sensor section 207... Antenna section 208... Camera

Claims

1. A parameter estimation system for estimating the parameters of a ship motion model, Using the navigation log when the aforementioned vessel navigates in a predetermined motion pattern, the navigation log indicates The parameters of the motion model specific to the vessel corresponding to the predetermined motion pattern are estimated. Estimation department, A parameter estimation system having the following characteristics.

2. The estimation unit determines the predetermined motion pattern shown in the navigation log, and the determined In accordance with the specified motion pattern, the gain for the parameters included in the motion model A parameter estimation system according to claim 1, which sets the parameters.

3. The predetermined motion patterns include a pattern of gradual acceleration and deceleration in a straight line, and a steady-state rotational motion. The parameter estimation method according to claim 1, including rotations, figure-eight motion, and meandering patterns. Stem.

4. The estimation unit, (1) A pattern of repeatedly accelerating and decelerating in stages while moving in a straight line. (2) A pattern of steady-state turning, figure-eight motion, and meandering at a first speed faster than a predetermined speed. (3) A pattern of steady circular turns, figure-eight motion, and meandering at a second speed slower than the predetermined speed. 、 The parameter estimation system according to claim 3, which estimates the parameters of the motion model in the following order. 。

5. The estimation unit repeats the process while changing the gain in the same motion pattern. The parameter estimation system according to claim 2, which further estimates the parameters of a motion model.

6. The estimation unit determines the navigation log for a straight-line motion pattern, and the predetermined direction. The parameters of the motion model are estimated using a navigation log that moves in the opposite direction to the direction of travel, claim. The parameter estimation system described in section 2.

7. The estimation unit determines, among a plurality of parameters included in the motion model of the ship, a predetermined parameter The meter is estimated using a navigation log corresponding to a predetermined motion pattern, as described in claim 1. Parameter estimation system.

8. The aforementioned navigation log includes self-position information and driving information. The aforementioned self-position information includes at least one of the ship's current position, azimuth angle, and speed. Including, The drive information includes at least one of the propeller rotation speed and the rudder angle, as described in claim 1. A parameter estimation system for the device.

9. We use MHE (Moving Horizon Estimation) to estimate the parameters of a nonlinear motion model. The parameter estimation system according to claim 1.

10. A recording unit for recording the navigation log of the aforementioned vessel, An instruction unit that instructs the manual operation of the vessel based on the predetermined motion pattern, Manual ship operation, which is performed in response to instructions from the instruction unit and recorded in the recording unit. A determination unit that determines whether the navigation log matches the predetermined motion pattern, It has, If the determination unit determines that the indicator unit does not match, the predetermined motion part will be called again. A parameter estimation system according to claim 1 that instructs the manual steering of the vessel based on the turn. Stem.

11. The navigation log of the aforementioned vessel is recorded when the vessel is manually operated based on the predetermined motion pattern. The recorded navigation log, or the automatic operation performed based on the predetermined motion pattern. The parameter estimation system according to claim 1, wherein the recorded navigation log is one of the recorded navigation logs.

12. The parameter estimation system is installed on the ship, and the parameters are as described in claim 1. Estimation system.

13. A parameter estimation method for estimating the parameters of a ship motion model, Using the navigation log when the aforementioned vessel navigates in a predetermined motion pattern, the navigation log indicates The parameters of the motion model specific to the vessel corresponding to the predetermined motion pattern are estimated. estimation process, A parameter estimation method having the following characteristics.

14. Computers, Using the navigation log when the vessel navigates in a predetermined motion pattern, the navigation log indicates the aforementioned Estimation of parameters of a motion model specific to the ship corresponding to a predetermined motion pattern. Department, A program designed to function as such.

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