阅读说明：本技术 一种速度信息融合方法 (Speed information fusion method ) 是由 郑树春 马新玉 刘国庆 谢华伟 于 2019-09-09 设计创作，主要内容包括：本发明公开了一种速度信息融合方法,包括：1)测点布局：在船上呈三角布置多个测速点,每个测速点配置传感器和放大器；2)数据采集：利用传感器和放大器获取速度信息,利用导航系统获取艉轴转速和航向；3)数据融合：基于船舶航行状态对步骤2)获取到的数据进行融合计算,得到船舶的航速；其中,船舶航行状态通过速度信息、艉轴转速和航向判断得到。本发明提供的速度融合方法不仅考虑到了测量值的可信度还考虑到了船舶运行状态对于速测的影响,使得最终得到的速度更加准确、稳定。(The invention discloses a speed information fusion method, which comprises the following steps: 1) measuring point layout: a plurality of speed measuring points are triangularly arranged on the ship, and each speed measuring point is provided with a sensor and an amplifier; 2) data acquisition: acquiring speed information by using a sensor and an amplifier, and acquiring the rotating speed and the course of a stern shaft by using a navigation system; 3) data fusion: performing fusion calculation on the data acquired in the step 2) based on the ship navigation state to obtain the navigation speed of the ship; the ship navigation state is obtained by judging speed information, the rotating speed of a stern shaft and the course. The speed fusion method provided by the invention not only considers the reliability of the measured value, but also considers the influence of the running state of the ship on the speed measurement, so that the finally obtained speed is more accurate and stable.)

1. A method for fusing velocity information, comprising:

1) measuring point layout: a plurality of speed measuring points are triangularly arranged on the ship, and each speed measuring point is provided with a sensor and an amplifier;

2) data acquisition: acquiring speed information by using a sensor and an amplifier, and acquiring the rotating speed and the course of a stern shaft by using a navigation system;

3) data fusion: performing fusion calculation on the data acquired in the step 2) based on the ship navigation state to obtain the navigation speed of the ship; the ship navigation state is obtained by judging speed information, the rotating speed of a stern shaft and the course.

2. The method for fusing speed information according to claim 1, wherein the speed measuring points comprise three.

3. The method for fusing speed information according to claim 2, wherein the specific steps of the fusion calculation comprise: channel estimation, ship navigation state judgment, wild value elimination and multi-channel information fusion.

4. The method for fusing speed information according to claim 3, wherein the specific step of channel estimation comprises:

and counting the mean value and the variance of each speed information, the rotating speed of the stern shaft and the course information within the preset time according to the time sequence.

5. The method for fusing speed information according to claim 3, wherein the ship navigation state comprises four states of uniform speed direct navigation, variable speed direct navigation, gyre and anchoring;

the method for judging the uniform speed direct navigation specifically comprises the following steps:

s11: the course information is stable, and the difference value between the current course angle and the mean value of the course angle is within an allowable disturbance range;

s12: the rotation speed of the screw shaft is stable, and the difference value between the current rotation speed of the screw shaft and the mean value of the rotation speed of the screw shaft is in an allowable disturbance range;

s13: the absolute value of the difference value between the current measurement value and the speed average value of the three electromagnetic speed measurement points is smaller than a threshold value;

if S11 is true and one of S12 or S13 is true, the vehicle is determined to be in a uniform direct navigation state;

the method for judging the variable speed direct navigation specifically comprises the following steps:

s21: the course information is stable, and the difference value between the current course angle and the mean value of the course angle is within an allowable disturbance range;

s22: the rotating speed of the stern shaft changes, and the difference value between the current rotating speed of the stern shaft and the mean value of the rotating speed of the stern shaft is not in an allowable disturbance range;

s23: the absolute value of the difference value between the current measurement value and the speed average value of the three paths of electromagnetic speed measurement points is larger than a threshold value, and the symbols are the same;

if the three conditions of S21-S23 are met simultaneously, the state is judged to be a speed-changing straight-driving state;

the method for judging the gyratory navigation specifically comprises the following steps:

s31: changing course information, judging that the current course angle and the mean value of the course angle are in a gyrus state if the difference value of the current course angle and the mean value of the course angle is not in an allowed disturbance range for three times continuously and the signs are the same;

if one of S12 or S13 is satisfied, the rotation is determined to be constant speed rotation; if one of S22 or S23 is satisfied, the speed change is judged to be the speed change rotation, and whether the speed is accelerated or decelerated is judged according to the sign;

the method for judging the anchoring navigation state specifically comprises the following steps:

s41: the course information is stable, the difference value between the current course angle and the mean value of the course angle is within the allowable disturbance range for three times continuously, and the signs are the same;

s42: the rotating speed of the screw shaft is 0, the difference value between the current rotating speed of the screw shaft and the mean value of the rotating speed of the screw shaft is within an allowable disturbance range for three consecutive times, and the symbols are the same;

s43: the absolute values of the difference values between the current measurement values and the speed average values of the three electromagnetic speed measurement points are not larger than a threshold value, the signs are the same, and the speed average value of each speed channel is lower than 3 kn;

if the three conditions of S41-S43 are met simultaneously, the state is judged to be the anchoring navigation state;

and the course angle mean value, the stern shaft rotation speed mean value and the speed mean value are obtained through channel estimation.

6. The method for fusing speed information according to claim 3, wherein the specific method for outlier rejection comprises:

the method for eliminating the wild value in the uniform speed direct navigation state comprises the following steps:

in a uniform-speed straight-ahead state, when the absolute value of the difference between the current measured value and the mean value of each speed channel is greater than a certain threshold within a certain continuous period of time, judging that the channel information is not credible, rejecting the signal, and adopting the previous observed value for each statistical characteristic of the channel;

the method for eliminating the wild value in the variable speed direct navigation state comprises the following steps:

in the variable speed navigation state, the course is stable, the absolute value of the difference between the current measured value and the mean value of the course channel in a certain period of time is greater than a certain threshold, the course channel information is judged to be unreliable and is removed, the course information is set as a default value, and the course information is reinitialized after the preset time is delayed;

the rotation speed of the stern shaft changes, the difference between the rotation speed of the stern shaft and the rotation speed change is larger than a certain threshold in a certain period of time, the rotation speed information of the stern shaft is judged to be unreliable and is rejected, the rotation speed of the stern shaft is set as a previous observed value, and the rotation speed information of the stern shaft is reinitialized after the preset time is delayed;

information change of electromagnetic speed measuring channel, speed information of each speed measuring channel in a certain period of timeJudging that the channel speed information is not credible and rejecting the channel speed information; wherein, a_maxIs the maximum acceleration of the ship, sigma is the velocity variance,taking the average speed value, and adopting the previous observed value for each statistical characteristic of the channel;

the method for rejecting the wild value in the gyratory navigation state is consistent with the method for judging and rejecting the wild value of the rotating speed of the electromagnetic channel and the screw shaft in the constant-speed and variable-speed navigation states; for course change, if the absolute value of the difference between the current measured value and the mean value of the course channel in a certain period of time is greater than a certain threshold, the course channel information is judged to be unreliable and is removed, or the course channel information is set as a default value under the condition that a fault value is unavailable, and the course information is reinitialized after a delay;

the outlier rejection method under the anchoring state is similar to the outlier rejection method of the uniform speed direct navigation, the course and the navigation speed both keep a certain constant, the rotating speed of the screw shaft is zero, the absolute value of the difference between the current measured value and the mean value of each channel in a certain period of time is greater than a certain threshold, the channel information is judged to be not credible, the signal is rejected, and each statistical characteristic of the channel adopts the previous observed value; for three electromagnetic channels, if the absolute value of the difference between the current measured value and the mean value is greater than a certain threshold, the current information of the channel is considered to be unreliable, the signal is rejected, and each statistical characteristic of the channel adopts the previous observed value.

7. The method for fusing speed information according to claim 6, wherein the specific steps of the fusion calculation comprise:

calculating the confidence degree distance of each speed channel according to the speed information at different moments in preset time and a threshold value; wherein the threshold is equal to the sum of the velocity mean, the sensor accuracy value, and the velocity variance;

distributing a weight value to the speed channel based on the ship navigation state and the confidence degree distance;

and performing fusion calculation based on the weight value and the current speed information to obtain the navigational speed of the ship.

Technical Field

The invention relates to the technical field of large surface ship speed measurement, in particular to a speed information fusion method.

Background

The take-off and landing of the airplane of the large-sized water surface ship are basic operations, and the speed of the ship is a basic element when the airplane takes off and lands, so that the requirements on the real-time performance, accuracy and stability of the speed are high. The large-scale surface ship is big in ship type, and the bottom of the ship produces rich bubble layer when navigating, and the bubble layer is free at the bottom of the ship along with the change of ship speed, and it is undulant easily to test the speed, brings very big difficulty and challenge for real-time, accurate and stable speed measuring.

Therefore, how to improve the accuracy of speed measurement of large surface ships is a problem that needs to be solved urgently by those skilled in the art.

Disclosure of Invention

In view of the above, the invention provides a speed information fusion method, which improves the real-time performance, accuracy and stability of speed measurement of large surface ships.

In order to achieve the purpose, the invention adopts the following technical scheme:

a method of velocity information fusion, comprising:

1) measuring point layout: a plurality of speed measuring points are triangularly arranged on the ship, and each speed measuring point is provided with a sensor and an amplifier;

2) data acquisition: acquiring speed information by using a sensor and an amplifier, and acquiring the rotating speed and the course of a stern shaft by using a navigation system;

3) data fusion: performing fusion calculation on the data acquired in the step 2) based on the ship navigation state to obtain the navigation speed of the ship; the ship navigation state is obtained by judging speed information, the rotating speed of a stern shaft and the course.

Preferably, the speed measuring points comprise three.

Preferably, the fusion calculation includes the following specific steps: channel estimation, ship navigation state judgment, wild value elimination and multi-channel information fusion.

Preferably, the channel estimation method specifically comprises the following steps:

and counting the mean value and the variance of each speed information, the rotating speed of the stern shaft and the course information within the preset time according to the time sequence.

Preferably, the ship navigation state comprises four states of uniform speed direct navigation, variable speed direct navigation, rotation and anchoring;

the method for judging the uniform speed direct navigation specifically comprises the following steps:

s11: the course information is stable, and the difference value between the current course angle and the mean value of the course angle is within an allowable disturbance range;

s12: the rotation speed of the screw shaft is stable, and the difference value between the current rotation speed of the screw shaft and the mean value of the rotation speed of the screw shaft is in an allowable disturbance range;

s13: the absolute value of the difference value between the current measurement value and the speed average value of the three electromagnetic speed measurement points is smaller than a threshold value;

if S11 is true and one of S12 or S13 is true, the vehicle is determined to be in a uniform direct navigation state;

the method for judging the variable speed direct navigation specifically comprises the following steps:

s21: the course information is stable, and the difference value between the current course angle and the mean value of the course angle is within an allowable disturbance range;

s22: the rotating speed of the stern shaft changes, and the difference value between the current rotating speed of the stern shaft and the mean value of the rotating speed of the stern shaft is not in an allowable disturbance range;

s23: the absolute value of the difference value between the current measurement value and the speed average value of the three paths of electromagnetic speed measurement points is larger than a threshold value, and the symbols are the same;

if the three conditions of S21-S23 are met simultaneously, the state is judged to be a speed-changing straight-driving state;

the method for judging the gyratory navigation specifically comprises the following steps:

s31: changing course information, judging that the current course angle and the mean value of the course angle are in a gyrus state if the difference value of the current course angle and the mean value of the course angle is not in an allowed disturbance range for three times continuously and the signs are the same;

if one of S12 or S13 is satisfied, the rotation is determined to be constant speed rotation; if one of S22 or S23 is satisfied, the speed change is judged to be the speed change rotation, and whether the speed is accelerated or decelerated is judged according to the sign;

the method for judging the anchoring navigation state specifically comprises the following steps:

s41: the course information is stable, the difference value between the current course angle and the mean value of the course angle is within the allowable disturbance range for three times continuously, and the signs are the same;

s42: the rotating speed of the screw shaft is 0, the difference value between the current rotating speed of the screw shaft and the mean value of the rotating speed of the screw shaft is within an allowable disturbance range for three consecutive times, and the symbols are the same;

s43: the absolute values of the difference values between the current measurement values and the speed average values of the three electromagnetic speed measurement points are not larger than a threshold value, the signs are the same, and the speed average value of each speed channel is lower than 3 kn;

if the three conditions of S41-S43 are met simultaneously, the state is judged to be the anchoring navigation state;

and the course angle mean value, the stern shaft rotation speed mean value and the speed mean value are obtained through channel estimation.

Preferably, the specific method for wild value elimination includes:

the method for eliminating the wild value in the uniform speed direct navigation state comprises the following steps:

in a uniform-speed straight-ahead state, when the absolute value of the difference between the current measured value and the mean value of each speed channel is greater than a certain threshold within a certain continuous period of time, judging that the channel information is not credible, rejecting the signal, and adopting the previous observed value for each statistical characteristic of the channel;

the method for eliminating the wild value in the variable speed direct navigation state comprises the following steps:

in the variable speed navigation state, the course is stable, the absolute value of the difference between the current measured value and the mean value of the course channel in a certain period of time is greater than a certain threshold, the course channel information is judged to be unreliable and is removed, the course information is set as a default value, and the course information is reinitialized after the preset time is delayed;

the rotation speed of the stern shaft changes, the difference between the rotation speed of the stern shaft and the rotation speed change is larger than a certain threshold in a certain period of time, the rotation speed information of the stern shaft is judged to be unreliable and is rejected, the rotation speed of the stern shaft is set as a previous observed value, and the rotation speed information of the stern shaft is reinitialized after the preset time is delayed;

information change of electromagnetic speed measuring channel, speed information of each speed measuring channel in a certain period of timeJudging that the channel speed information is not credible and rejecting the channel speed information; wherein, a_maxIs the maximum acceleration of the ship, sigma is the velocity variance,taking the average speed value, and adopting the previous observed value for each statistical characteristic of the channel;

the method for rejecting the wild value in the gyratory navigation state is consistent with the method for judging and rejecting the wild value of the rotating speed of the electromagnetic channel and the screw shaft in the constant-speed and variable-speed navigation states; for course change, if the absolute value of the difference between the current measured value and the mean value of the course channel in a certain period of time is greater than a certain threshold, the course channel information is judged to be unreliable and is removed, or the course channel information is set as a default value under the condition that a fault value is unavailable, and the course information is reinitialized after a delay;

the outlier rejection method under the anchoring state is similar to the outlier rejection method of the uniform speed direct navigation, the course and the navigation speed both keep a certain constant, the rotating speed of the screw shaft is zero, the absolute value of the difference between the current measured value and the mean value of each channel in a certain period of time is greater than a certain threshold, the channel information is judged to be not credible, the signal is rejected, and each statistical characteristic of the channel adopts the previous observed value; for three electromagnetic channels, if the absolute value of the difference between the current measured value and the mean value is greater than a certain threshold, the current information of the channel is considered to be unreliable, the signal is rejected, and each statistical characteristic of the channel adopts the previous observed value.

Preferably, the fusion calculation includes the following specific steps:

calculating the confidence degree distance of each speed channel according to the speed information at different moments in preset time and a threshold value; wherein the threshold is equal to the sum of the velocity mean, the sensor accuracy value, and the velocity variance;

distributing a weight value to the speed channel based on the ship navigation state and the confidence degree distance;

and performing fusion calculation based on the weight value and the current speed information to obtain the navigational speed of the ship.

According to the technical scheme, compared with the prior art, the speed information fusion method provided by the invention not only considers the reliability of the measured value, but also considers the influence of the running state of the ship on the speed measurement, so that the finally obtained speed is more accurate and stable. In addition, the wild value is eliminated through channel estimation, the motion state of the ship is judged, speed fusion is carried out on the basis of the data after the wild value is eliminated and the motion state of the ship, the navigational speed of the ship is obtained, and the result is more accurate.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic flow chart of a speed information fusion method provided in the present invention;

fig. 2 is a schematic flow chart of a method for multi-channel information fusion provided by the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, an embodiment of the present invention discloses a speed information fusion method, including:

1) measuring point layout: a plurality of speed measuring points are triangularly arranged on the ship, and each speed measuring point is provided with a sensor and an amplifier;

preferably, three speed measuring points are arranged on the ship in a triangular mode in consideration of the requirements of cost, calculation real-time performance and the like.

2) Data acquisition: acquiring speed information by using a sensor and an amplifier, and acquiring the rotating speed and the course of a stern shaft by using a navigation system;

3) data fusion: performing fusion calculation on the data acquired in the step 2) based on the ship navigation state to obtain the navigation speed of the ship; the ship navigation state is obtained by judging speed information, the rotating speed of a stern shaft and the course.

The speed fusion method provided by the invention not only considers the reliability of the measured value, but also considers the influence of the running state of the ship on the speed measurement, so that the finally obtained speed is more accurate and stable.

In order to further optimize the above technical solution, the specific steps of the fusion calculation include: channel estimation, ship navigation state judgment, wild value elimination and multi-channel information fusion.

Specifically, the channel estimation method specifically comprises the following steps:

and counting the mean value and the variance of each speed information, the rotating speed of the stern shaft and the course information within the preset time according to the time sequence.

When the ship state is judged and the wild value is eliminated, the mean value and the variance of each channel are considered.

The data fusion channel comprises two types, one type is used for estimating speed information and comprises 3 paths of electromagnetic sensor speed signals. One type is used for state judgment and comprises information of each speed estimation channel, the rotating speed of a screw shaft and course information.

The channel statistic for speed estimation is used for channel outlier rejection, channel speed estimation and auxiliary judgment of the constant speed, variable speed and anchoring navigation state of the ship body. Counting the mean value and variance of certain channel information in a period of time according to the time sequence, and adopting mathematical unbiased estimation, wherein the sampling point is about n points, and the calculation method is as follows:

using n-1 instead of n in the standard deviation estimation is mathematically an unbiased estimation.

And the channel statistics of the rotating speed and the course of the stern shaft are used for judging the current sailing state of the ship. The statistical method is consistent with the electromagnetic channel, and the sampling point is about m points.

Before processing the information of each channel, the current navigation state is judged, whether the information is credible or not is judged under the current navigation state, different weights are distributed, and the current speed of the channel is estimated. The different navigation states are judged so as to adopt different speed estimation algorithms aiming at the different navigation states, so that the best compromise between information stability and real-time performance is obtained. The navigation states related to the current scheme include four states of constant speed, variable speed, gyration and anchoring, and the determination method of each navigation state is described below.

The uniform speed navigation state is judged by the rotation speed and the course information of the stern shaft and the information of each speed channel. When the following conditions are met, judging that the large ship is in a uniform speed direct navigation state:

specifically, the method for judging the uniform speed direct navigation comprises the following steps:

s11: the course information is stable, and the difference value between the current course angle and the mean value of the course angle is within an allowable disturbance range; during specific implementation, the judgment standard is that the difference value of three continuous times is within the disturbance range;

s12: the rotation speed of the screw shaft is stable, and the difference value between the current rotation speed of the screw shaft and the mean value of the rotation speed of the screw shaft is in an allowable disturbance range; similarly, in specific implementation, the judgment criteria may be: the difference value of three consecutive times is in the disturbance range;

s13: the absolute value of the difference value between the current measurement value and the speed average value of the three electromagnetic speed measurement points is smaller than a threshold value; in specific implementation, the judgment criteria are as follows: the absolute value of the difference value between the current measurement value of the three paths of electromagnetic speed measurement points and the speed mean value is less than the threshold value twice;

if S11 is true and one of S12 or S13 is true, the vehicle is determined to be in a uniform direct navigation state;

the method for judging the variable speed direct navigation specifically comprises the following steps:

s21: the course information is stable, and the difference value between the current course angle and the mean value of the course angle is within an allowable disturbance range; in specific implementation, the judgment standard is that the difference value of three continuous times is out of the disturbance range;

s22: the rotating speed of the stern shaft changes, and the difference value between the current rotating speed of the stern shaft and the mean value of the rotating speed of the stern shaft is not in an allowable disturbance range; in specific implementation, the judgment standard is that the difference value of three continuous times is in a disturbance range, and the symbols are the same;

s23: the absolute value of the difference value between the current measurement value and the speed average value of the three paths of electromagnetic speed measurement points is larger than a threshold value, and the symbols are the same; in specific implementation, the judgment criteria are as follows: the absolute value of the difference value between the current measurement value of the three paths of electromagnetic speed measurement points and the speed mean value is larger than the threshold value and has the same sign;

if the three conditions of S21-S23 are met simultaneously, the state is judged to be a speed-changing straight-driving state;

the method for judging the gyratory navigation specifically comprises the following steps:

s31: changing course information, judging that the current course angle and the mean value of the course angle are in a gyrus state if the difference value of the current course angle and the mean value of the course angle is not in an allowed disturbance range for three times continuously and the signs are the same;

if one of S12 or S13 is satisfied, the rotation is determined to be constant speed rotation; if one of S22 or S23 is satisfied, the speed change is judged to be the speed change rotation, and whether the speed is accelerated or decelerated is judged according to the sign;

the method for judging the anchoring navigation state specifically comprises the following steps:

s41: the course information is stable, the difference value between the current course angle and the mean value of the course angle is within the allowable disturbance range for three times continuously, and the judgment standard is as follows: the difference values in the three consecutive times are within the disturbance range, and the signs are the same;

s42: the rotating speed of the stern shaft is 0, the difference value between the current rotating speed of the stern shaft and the mean value of the rotating speed of the stern shaft for three times in succession is in an allowable disturbance range, and the judgment standard is as follows: the difference values in the three consecutive times are within the disturbance range, and the signs are the same;

s43: the absolute values of the difference values between the current measurement values and the speed average values of the three electromagnetic speed measurement points are not larger than a threshold value, the signs are the same, and the speed average value of each speed channel is lower than 3 kn; the unit of the speed is section, which is equivalent to sea/h;

if the three conditions of S41-S43 are met simultaneously, the state is judged to be the anchoring navigation state;

and the course angle mean value, the stern shaft rotation speed mean value and the speed mean value are obtained through channel estimation.

The wild value elimination is divided into two cases, one is that a certain current measurement information is seriously deviated from a true value, and a current measurement point is eliminated, so that the estimation result is prevented from being influenced by the serious deviation of the current value from the true value; in another case, the channel information is always seriously deviated from the true value, in which case, the channel information needs to be rejected and then the channel is initialized after a certain time delay, so as to re-enable the channel information when possible.

Specifically, it is determined whether a certain channel or certain observation point data is a wild value related to the current navigation state, and different navigation states correspond to different determination methods, which will be separately described below.

The method for eliminating the wild value in the uniform speed direct navigation state comprises the following steps:

under the uniform speed straight-ahead state, the course, the rotating speed of a stern shaft and the navigational speed all keep a certain constant, when the absolute value of the difference between the current measured value and the mean value of each speed channel is greater than a certain threshold in a certain continuous period of time, the channel information is judged to be unreliable, the signal is removed, and each statistical characteristic of the channel adopts the previous observed value;

under the state of uniform speed straight-ahead driving, the absolute value of the difference between the current measured value and the mean value of a certain path of information at a certain continuous time is greater than a threshold, and the probability is that p is 0.003¹⁰＝6×10-²⁶That is, normally, this situation may occur on average every 4.6 × 1020h, and therefore, it can be considered that, when this situation occurs, it is likely that the channel is failed, and the channel information should be rejected.

The method for eliminating the wild value in the variable speed direct navigation state comprises the following steps:

in the variable speed navigation state, the course is stable, the absolute value of the difference between the current measured value and the mean value of the course channel in a certain period of time is greater than a certain threshold, the course channel information is judged to be unreliable and is removed, the course information is set as a default value, and the course information is reinitialized after the preset time is delayed;

the rotation speed of the stern shaft changes, the difference between the rotation speed of the stern shaft and the rotation speed change is larger than a certain threshold in a certain period of time, the rotation speed information of the stern shaft is judged to be unreliable and is rejected, the rotation speed of the stern shaft is set as a previous observed value, and the rotation speed information of the stern shaft is reinitialized after the preset time is delayed;

information change of electromagnetic speed measuring channel, speed information of each speed measuring channel in a certain period of timeJudging that the channel speed information is not credible and rejecting the channel speed information; wherein, a_maxIs the maximum acceleration of the ship, sigma is the velocity variance,taking the average speed value, and adopting the previous observed value for each statistical characteristic of the channel;

the method for rejecting the wild value in the gyratory navigation state is consistent with the method for judging and rejecting the wild value of the rotating speed of the electromagnetic channel and the screw shaft in the constant-speed and variable-speed navigation states; corresponding judgment methods are adopted for the rotation speed information of the electromagnetic channel and the screw shaft under the two states of constant speed rotation and variable speed rotation, but the course information should be treated differently. For course change, if the absolute value of the difference between the current measured value and the mean value of the course channel in a certain period of time is greater than a certain threshold, the course channel information is judged to be unreliable and is removed, or the course channel information is set as a default value under the condition that a fault value is unavailable, and the course information is reinitialized after a delay;

the outlier rejection method under the anchoring state is similar to the outlier rejection method of the uniform speed direct navigation, the course and the navigation speed both keep a certain constant, the rotating speed of the screw shaft is zero, the absolute value of the difference between the current measured value and the mean value of each channel in a certain period of time is greater than a certain threshold, the channel information is judged to be not credible, the signal is rejected, and each statistical characteristic of the channel adopts the previous observed value; for three electromagnetic channels, if the absolute value of the difference between the current measured value and the mean value is greater than a certain threshold, the current information of the channel is considered to be unreliable, the signal is rejected, and each statistical characteristic of the channel adopts the previous observed value.

Similarly, the statistical characteristics of the data of each channel are also referred in the wild value elimination process, so that the wild value elimination is more accurate.

Referring to fig. 2, in order to further optimize the above technical solution, the specific steps of the fusion calculation include:

calculating the confidence degree distance of each speed channel according to the speed information at different moments in preset time and a threshold value; wherein the threshold is equal to the sum of the velocity mean, the sensor accuracy value, and the velocity variance;

distributing a weight value to the speed channel based on the ship navigation state and the confidence degree distance;

and performing fusion calculation based on the weight value and the current speed information to obtain the navigational speed of the ship.

During weight distribution, the influence of the ship navigation state is fully considered, so that the finally obtained ship navigation speed is more accurate.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.