CN109884596A - The GPS filtering system and filtering method of marine navigation radar - Google Patents
The GPS filtering system and filtering method of marine navigation radar Download PDFInfo
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Abstract
The present invention relates to marine navigation technical field more particularly to the GPS filtering systems and filtering method of a kind of marine navigation radar.The system includes: the real-time acquisition module of GPS data and bow to the real-time acquisition module of parameter, is respectively used to acquire GPS data in real time and acquires bow in real time to parameter and its corresponding acquisition time；GPS data real-time storage update module, for real-time storage and updates GPS data；GPS data number real-time judge module, for editing number judging result；Steering rate generation module, for steering rate to be calculated；Beyond threshold value judgment module, for judging and editing judging result；Filtering step-length transfers module, for transferring filtering step-length；Mean square error computing module, for overall mean square error to be calculated；GPS data filter module, for being calculated through/latitude predicted value.The present invention is conducive to improve the accuracy to ship's fix by being filtered the warp/latitude measured value in GPS data.
Description
Technical field
The present invention relates to the GPS filtering systems and filter of marine navigation technical field more particularly to a kind of marine navigation radar
Wave method.
Background technique
As the rapid development of navigation equipment peculiar to vessel has also gradually incorporated electronics in addition to utilizing pathfinder echo data
Sea chart, tachometer, compass, GPS (Global Positioning System, global positioning system), AIS (Automatic
Identification System, ship automatic identification system) etc. many navigational aids, have to the development of seafaring huge
Big impetus.Multiple sensors information improves the stability and accuracy of target following, and providing for navigation safety more has
The guarantee of benefit.
In entire marine navigation radar system, the tracking and identification of target are realized using radar return video data, so
And it tracks target information both relative to this ship.GPS provides the information such as the position (longitude and latitude), the speed of a ship or plane and course of this ship, sieve
This bow is provided to letter through (Gyro is to provide the instrument of directional reference, and ship is to determine course and observation object mark orientation)
Breath.By GPS data, the geodetic coordinates of available target.AIS target and radar target fusion are also the earth by target
Coordinate position.Therefore, this ship position and head that GPS and Gyro is provided are extremely important to information.But when ship running is on sea
On, this ship can occur to turn to, acceleration and deceleration motion, even if this ship drives at a constant speed, GPS data also can generation system error, therefore it is right
GPS data is filtered particularly important.
Common filtering algorithm has least square, Kalman filtering and its deformation etc..Wherein, kalman filter method is
Filtering stablizes and is suitble to the ideal method of various different conditions, it require that grasping exact statistics, such as target in advance
Acceleration statistical property etc., these knowledge are not easy to obtain.Moreover, kalman filter method calculates complexity.
Therefore, it is badly in need of the GPS filtering system and filtering method of a kind of marine navigation radar.
Summary of the invention
The present invention provides the GPS filtering systems and filtering method of a kind of marine navigation radar, in order to more acurrate to ship
Oceangoing ship is positioned, and course and the speed of a ship or plane of ship are grasped.
One aspect of the present invention provides a kind of GPS filtering system of marine navigation radar, comprising:
The real-time acquisition module of GPS data for acquiring GPS data in real time, and is sent to GPS data real-time storage and updates mould
Block；
Bow is to the real-time acquisition module of parameter, for acquiring bow in real time to parameter, and by bow to parameter and its correspondence
Acquisition time be sent to steering rate generation module；
GPS data real-time storage update module, for real-time storage and updates GPS data；
GPS data number real-time judge module, for the GPS number in real-time judge GPS data real-time storage update module
According to number whether exceed predetermined number, if exceeding, edit number judging result and be sent to steering rate generation module；
Steering rate generation module, for after receiving number judging result, bow is to parameter and its right based on the received
Steering rate is calculated in the acquisition time answered, and steering rate is sent to beyond threshold value judgment module；
Beyond threshold value judgment module, for judging whether received steering rate exceeds steering threshold value, if exceeding, is edited
One judging result is sent to filtering step-length and transfers module, if without departing from editing the second judging result and being sent to filtering step-length tune
Modulus block；It is also used to judge whether received overall mean square error exceeds error threshold, if exceeding, edits the first judging result hair
Send to filtering step-length transfer module, if without departing from, edit the second judging result be sent to filtering step-length transfer module；
Filtering step-length transfers module, sends respectively for when receiving the first judging result, transferring the first filtering step-length
To mean square error computing module, GPS data filter module；It is also used to when receiving the second judging result, transfers the second filtering
Step-length is respectively sent to mean square error computing module, GPS data filter module；
Mean square error computing module, for warp/latitude measured value based on the received, through/latitude predicted value and the first filtering
The filtering of step-length/second step size computation is obtained through/overall mean square error between latitude measured value and warp/latitude predicted value, and will be total
Mean square error is sent to beyond threshold value judgment module；
GPS data filter module extracts GPS for transferring the GPS data in GPS data real-time storage update module
Warp/latitude measured value and its corresponding acquisition time in data, according to warp/latitude measured value and its corresponding acquisition time and
Received first filtering step-length/second filtering step size computation is obtained through/latitude predicted value；Be also used to will through/latitude measured value,
Mean square error computing module is sent to through/latitude predicted value.
Further, further includes: GPS data screening module, for verification code symbol to be closed default check value in real time and is worked as
The GPS data that duration between preceding acquisition time and a upper acquisition time is greater than preset duration screens, and is sent to GPS
Data real-time storage update module.
Further, bow is substituted into formula to parameter and its corresponding acquisition time by steering rate generation moduleSteering rate is calculated；Wherein, RRotFor steering rate, h (1) is first bow to parameter, h
It (M) is m-th bow to parameter, T (1) is the acquisition time of h (1), and T (M) is the acquisition time of h (M).
Further, mean square error computing module includes:
Through/latitude mean square error computing unit, for that will be walked through/latitude measured value, through/latitude predicted value and the first filtering
Long/the second filtering step-length substitutes into formulaLongitude mean square error is calculated and latitude is equal
Square error, and it is sent to overall mean square error computing unit；
Overall mean square error computing unit, for longitude mean square error and latitude mean square error to be substituted into formulaIt is calculated through/overall mean square error between latitude measured value and warp/latitude predicted value, and will be always equal
Square error is sent to beyond threshold value judgment module；
Wherein, wherein σxFor longitude mean square error, σyFor latitude mean square error, N is the first filtering step-length/second filtering step
Long, X (i) is longitude measured value,For longitude predicted value, Z (i) is latitude measured value,For latitude predicted value, σ is
Through/overall mean square error between latitude measured value and warp/latitude predicted value.
Further, GPS data filter module includes:
GPS data transfers unit, for transferring the GPS data in GPS data real-time storage update module, and is sent to
Through/latitude measured value extraction unit；
Through/latitude measured value extraction unit, for extracting warp/latitude measured value in GPS data and its corresponding adopting
The collection time is sent to coefficient calculation unit；
Coefficient calculation unit, for module will to be transferred through/latitude measured value and its corresponding acquisition time and filtering step-length
The the first filtering step-length sent/second filtering step-length substitutes into formulaMeter
Calculation obtains the first coefficient and the second coefficient is sent to through/latitude predictor calculation unit；
Through/latitude predictor calculation unit, for the first coefficient, the second coefficient and warp/latitude measured value is corresponding to be adopted
Collect time substitution formulaIt is calculated through/latitude predicted value, and is sent to mean square error calculating
Module；
Wherein, β0For the first coefficient, β1For the second coefficient, T (i) is warp/corresponding acquisition time of latitude measured value, Y
It (i) is warp/latitude measured value, N is the first filtering step-length/second filtering step-length,For warp/latitude predicted value.
The second aspect of the invention provides a kind of marine navigation radar realized based on the system among the above
GPS filtering method, comprising the following steps:
Respectively in real time acquisition GPS data, bow to parameter and its corresponding acquisition time；
Real-time storage simultaneously updates GPS data；
Whether the number of the GPS data of real-time storage exceeds predetermined number, if exceeding, it is concurrent to edit number judging result
It send；
After receiving number judging result, steering rate is calculated to parameter and its corresponding acquisition time according to bow
And it sends；
Judge whether steering rate exceeds steering threshold value, if exceeding, edits the first judging result and send, if without departing from,
It then edits the second judging result and sends；
The first filtering step-length is transferred according to the first judging result and is sent, and the second filtering step is transferred according to the second judging result
It grows and sends；
According to warp/latitude measured value, through/latitude predicted value and the first filtering step-length/second filtering step size computation obtain through/
Overall mean square error and transmission between latitude measured value and warp/latitude predicted value；
Judge whether overall mean square error exceeds error threshold, if exceeding, edits the first judging result and send, if not surpassing
Out, then it edits the second judging result and sends；
The first filtering step-length is transferred according to the first judging result and is sent, and the second filtering step is transferred according to the second judging result
It grows and sends；
The GPS data for transferring storage extracts warp/latitude measured value and its corresponding acquisition time in GPS data, root
According to warp/latitude measured value and its corresponding acquisition time and the received first filtering filtering of step-length/second step size computation obtain through/
Latitude predicted value, and will be sent through/latitude measured value, through/latitude predicted value.
Further, further comprise the steps of: using GPS data screening module in real time will verification code symbol close default check value, with
And the duration between current acquisition time and a upper acquisition time is screened and is sent greater than the GPS data of preset duration.
Further, the formula of steering rate is calculated are as follows:Wherein, RRotFor steering rate, h
It (1) is first bow to parameter, h (M) is m-th bow to parameter, and T (1) is the acquisition time of h (1), and T (M) is h (M)
Acquisition time.
Further, the step of calculating overall mean square error are as follows:
It will be walked through/latitude measured value, through/latitude predicted value and the first filtering using warp/latitude mean square error computing unit
Long/the second filtering step-length substitutes into formulaLongitude mean square error is calculated and latitude is equal
Square error, and it is sent to overall mean square error computing unit；
Longitude mean square error and latitude mean square error are substituted into formula using overall mean square error computing unitIt is calculated through/overall mean square error between latitude measured value and warp/latitude predicted value, and will be always equal
Square error is sent to beyond threshold value judgment module；
Wherein, wherein σxFor longitude mean square error, σyFor latitude mean square error, N is the first filtering step-length/second filtering step
Long, X (i) is longitude measured value,For longitude predicted value, Z (i) is latitude measured value,For latitude predicted value, σ is
Through/overall mean square error between latitude measured value and warp/latitude predicted value.
Further, the step of calculating warp/latitude predicted value are as follows:
Transfer unit using GPS data and transfer GPS data in GPS data real-time storage update module, and be sent to through/
Latitude measured value extraction unit；
Warp/latitude measured value and its corresponding acquisition in GPS data are extracted using warp/latitude measured value extraction unit
Time is sent to coefficient calculation unit；
Usage factor computing unit will transfer module hair through/latitude measured value and its corresponding acquisition time and filtering step-length
The the first filtering step-length sent/second filtering step-length substitutes into formulaIt calculates
It obtains the first coefficient and the second coefficient is sent to through/latitude predictor calculation unit；
Using warp/latitude predictor calculation unit by the first coefficient, the second coefficient and warp/corresponding acquisition of latitude measured value
Time substitutes into formulaIt is calculated through/latitude predicted value, and is sent to mean square error calculating
Module；
Wherein, β 0 is the first coefficient, and β 1 is the second coefficient, and T (i) is warp/corresponding acquisition time of latitude measured value, Y
It (i) is warp/latitude measured value, N is the first filtering step-length/second filtering step-length,For warp/latitude predicted value.
The GPS filtering system and filtering method of marine navigation radar provided by the invention, compared with prior art have with
Lower progress: the present invention judges whether ship turns to and judge whether ship occurs machine according to mean square error to parameter according to bow
It is dynamic, and then determine filtering step-length, the warp/latitude in the GPS data of acquisition is filtered further according to filtering step-length, is conducive to mention
Height has the advantages that easy to operate, cost is relatively low, efficiency is higher to the accuracy of ship's fix.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is that the device of the GPS filtering system of marine navigation radar in the embodiment of the present invention connects block diagram；
The step of Fig. 2 is the GPS filtering method of marine navigation radar in the embodiment of the present invention is schemed；
Fig. 3 is the flow chart of the GPS filtering method of marine navigation radar in the embodiment of the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless otherwise will not be explained in an idealized or overly formal meaning by specific definitions.
Present embodiments provide the GPS filtering system and filtering method of a kind of marine navigation radar.
Such as Fig. 1, the GPS filtering system of the marine navigation radar of the present embodiment, comprising:
The real-time acquisition module of GPS data for acquiring GPS data in real time, and is sent to GPS data real-time storage and updates mould
Block；
Bow is to the real-time acquisition module of parameter, for acquiring bow in real time to parameter, and by bow to parameter and its correspondence
Acquisition time be sent to steering rate generation module；
GPS data real-time storage update module, for real-time storage and updates GPS data；
GPS data number real-time judge module, for the GPS number in real-time judge GPS data real-time storage update module
According to number whether exceed predetermined number, if exceeding, edit number judging result and be sent to steering rate generation module；
Steering rate generation module, for after receiving number judging result, bow is to parameter and its right based on the received
Steering rate is calculated in the acquisition time answered, and steering rate is sent to beyond threshold value judgment module；
Beyond threshold value judgment module, for judging whether received steering rate exceeds steering threshold value, if exceeding, is edited
One judging result is sent to filtering step-length and transfers module, if without departing from editing the second judging result and being sent to filtering step-length tune
Modulus block；It is also used to judge whether received overall mean square error exceeds error threshold, if exceeding, edits the first judging result hair
Send to filtering step-length transfer module, if without departing from, edit the second judging result be sent to filtering step-length transfer module；
Filtering step-length transfers module, sends respectively for when receiving the first judging result, transferring the first filtering step-length
To mean square error computing module, GPS data filter module；It is also used to when receiving the second judging result, transfers the second filtering
Step-length is respectively sent to mean square error computing module, GPS data filter module；
Mean square error computing module, for warp/latitude measured value based on the received, through/latitude predicted value and the first filtering
The filtering of step-length/second step size computation is obtained through/overall mean square error between latitude measured value and warp/latitude predicted value, and will be total
Mean square error is sent to beyond threshold value judgment module；
GPS data filter module extracts GPS for transferring the GPS data in GPS data real-time storage update module
Warp/latitude measured value and its corresponding acquisition time in data, according to warp/latitude measured value and its corresponding acquisition time and
Received first filtering step-length/second filtering step size computation is obtained through/latitude predicted value；Be also used to will through/latitude measured value,
Mean square error computing module is sent to through/latitude predicted value.
The present invention judges whether ship turns to and judge whether ship occurs according to mean square error to parameter according to bow
It is motor-driven, and then determine filtering step-length, the warp/latitude in the GPS data of acquisition is filtered further according to filtering step-length, is conducive to
The accuracy to ship's fix is improved, has the advantages that easy to operate, cost is relatively low, efficiency is higher.
Such as Fig. 1, the GPS filtering system of the marine navigation radar of the present embodiment, further includes: GPS data screening module is used for
The duration between the default check value of code symbol conjunction and current acquisition time and a upper acquisition time will be verified in real time greater than default
The GPS data of duration screens, and is sent to GPS data real-time storage update module.Invalid GPS data is screened out, is had
Conducive to the accuracy for improving working efficiency and final result.
When it is implemented, bow is substituted into formula to parameter and its corresponding acquisition time by steering rate generation moduleSteering rate is calculated；Wherein, RRotFor steering rate, h (1) is first bow to parameter, h (M)
It is m-th bow to parameter, T (1) is the acquisition time of h (1), and T (M) is the acquisition time of h (M).
Such as Fig. 1, in the GPS filtering system of the marine navigation radar of the present embodiment, mean square error computing module includes:
Through/latitude mean square error computing unit, for that will be walked through/latitude measured value, through/latitude predicted value and the first filtering
Long/the second filtering step-length substitutes into formulaLongitude mean square error is calculated and latitude is equal
Square error, and it is sent to overall mean square error computing unit；
Wherein, longitude measured value, longitude predicted value and the first filtering step-length/second filtering step-length are substituted into above-mentioned warp/latitude
Longitude mean square error is calculated in formula in degree mean square error computing unit；By latitude measured value, latitude predicted value and first
It is square that latitude is calculated in the formula that filtering step-length/second filtering step-length substitutes into above-mentioned warp/latitude mean square error computing unit
Error.
Overall mean square error computing unit, for longitude mean square error and latitude mean square error to be substituted into formulaIt is calculated through/overall mean square error between latitude measured value and warp/latitude predicted value, and will be always equal
Square error is sent to beyond threshold value judgment module；
Wherein, wherein σxFor longitude mean square error, σyFor latitude mean square error, N is the first filtering step-length/second filtering step
Long, X (i) is longitude measured value,For longitude predicted value, Z (i) is latitude measured value,For latitude predicted value, σ is
Through/overall mean square error between latitude measured value and warp/latitude predicted value.
Such as Fig. 1, in the GPS filtering system of the marine navigation radar of the present embodiment, GPS data filter module includes:
GPS data transfers unit, for transferring the GPS data in GPS data real-time storage update module, and is sent to
Through/latitude measured value extraction unit；
Through/latitude measured value extraction unit, for extracting warp/latitude measured value in GPS data and its corresponding adopting
The collection time is sent to coefficient calculation unit；
Coefficient calculation unit, for module will to be transferred through/latitude measured value and its corresponding acquisition time and filtering step-length
The the first filtering step-length sent/second filtering step-length substitutes into formulaMeter
Calculation obtains the first coefficient and the second coefficient is sent to through/latitude predictor calculation unit；
Through/latitude predictor calculation unit, for the first coefficient, the second coefficient and warp/latitude measured value is corresponding to be adopted
Collect time substitution formulaIt is calculated through/latitude predicted value, and is sent to mean square error calculating
Module；
Wherein, the first filtering that longitude measured value and its corresponding acquisition time and filtering step-length transfer module transmission is walked
The first coefficient and the second coefficient is calculated in the formula that long/the second filtering step-length substitutes into above-mentioned coefficient calculation unit；Again by
One coefficient, the second coefficient and the corresponding acquisition time of longitude measured value substitute into formulaIt calculates
To longitude predicted value；Latitude measured value and its corresponding acquisition time and filtering step-length are transferred to the first filtering step of module transmission
The first coefficient and the second coefficient is calculated in the formula that long/the second filtering step-length substitutes into above-mentioned coefficient calculation unit；Again by
One coefficient, the second coefficient and the corresponding acquisition time of latitude measured value substitute into formulaIt calculates
To latitude predicted value.
Wherein, β 0 is the first coefficient, and β 1 is the second coefficient, and T (i) is warp/corresponding acquisition time of latitude measured value, Y
It (i) is warp/latitude measured value, N is the first filtering step-length/second filtering step-length,For warp/latitude predicted value.
Such as the GPS filtering of Fig. 2, a kind of system described based on the above embodiment of the present embodiment marine navigation radar realized
Method, comprising the following steps:
S1, respectively in real time acquisition GPS data, bow to parameter and its corresponding acquisition time；
S2, real-time storage simultaneously update GPS data；
S3, judge whether the number of the GPS data of real-time storage exceeds predetermined number, if exceeding, edit number judgement
As a result it and sends；
S4, after receiving number judging result, according to bow to parameter and its corresponding acquisition time be calculated turn
To rate and send；
S5, judge whether steering rate exceeds steering threshold value, if exceeding, edit the first judging result and send, if not surpassing
Out, then it edits the second judging result and sends；
S6, the first filtering step-length is transferred according to the first judging result and is sent, the second filter is transferred according to the second judging result
Wave step-length is simultaneously sent；
S7, it is obtained according to warp/latitude measured value, through/latitude predicted value and the first filtering step-length/second filtering step size computation
Through/overall mean square error between latitude measured value and warp/latitude predicted value and transmission；
S8, judge whether overall mean square error exceeds error threshold, if exceeding, edit the first judging result and send, if
Without departing from then editing the second judging result and send；
S9, the first filtering step-length is transferred according to the first judging result and is sent, the second filter is transferred according to the second judging result
Wave step-length is simultaneously sent；
S10, the GPS data for transferring storage, when extracting warp/latitude measured value and its corresponding acquisition in GPS data
Between, it is obtained according to warp/latitude measured value and its corresponding acquisition time and received first filtering step-length/second filtering step size computation
To warp/latitude predicted value, and will be sent through/latitude measured value, through/latitude predicted value.
The present invention judges whether ship turns to and judge whether ship occurs according to mean square error to parameter according to bow
It is motor-driven, and then determine filtering step-length, the warp/latitude in the GPS data of acquisition is filtered further according to filtering step-length, is conducive to
The accuracy to ship's fix is improved, has the advantages that easy to operate, cost is relatively low, efficiency is higher.
The GPS filtering method with pathfinder of the present embodiment further comprises the steps of: benefit before step S2, after step S1
Verification code symbol is closed into default check value and current acquisition time and a upper acquisition time in real time with GPS data screening module
Between duration be greater than preset duration GPS data screen and send.Invalid GPS data is screened out, is conducive to improve
The accuracy of working efficiency and final result.
When it is implemented, the formula of steering rate is calculated are as follows:Wherein, RRotTo turn to
Rate, h (1) are first bow to parameter, and h (M) is m-th bow to parameter, and T (1) is the acquisition time of h (1), and T (M) is h
(M) acquisition time.
When it is implemented, the specific steps that step S7 calculates overall mean square error include:
It will be walked through/latitude measured value, through/latitude predicted value and the first filtering using warp/latitude mean square error computing unit
Long/the second filtering step-length substitutes into formulaLongitude mean square error is calculated and latitude is equal
Square error, and it is sent to overall mean square error computing unit；
Longitude mean square error and latitude mean square error are substituted into formula using overall mean square error computing unitIt is calculated through/overall mean square error between latitude measured value and warp/latitude predicted value, and will be always equal
Square error is sent to beyond threshold value judgment module；
Wherein, wherein σxFor longitude mean square error, σyFor latitude mean square error, N is the first filtering step-length/second filtering step
Long, X (i) is longitude measured value,For longitude predicted value, Z (i) is latitude measured value,For latitude predicted value, σ is
Through/overall mean square error between latitude measured value and warp/latitude predicted value.
When it is implemented, the step of step S10 calculating warp/latitude predicted value, includes:
Transfer unit using GPS data and transfer GPS data in GPS data real-time storage update module, and be sent to through/
Latitude measured value extraction unit；
Warp/latitude measured value and its corresponding acquisition in GPS data are extracted using warp/latitude measured value extraction unit
Time is sent to coefficient calculation unit；
Usage factor computing unit will transfer module hair through/latitude measured value and its corresponding acquisition time and filtering step-length
The the first filtering step-length sent/second filtering step-length substitutes into formulaIt calculates
It obtains the first coefficient and the second coefficient is sent to through/latitude predictor calculation unit；
Using warp/latitude predictor calculation unit by the first coefficient, the second coefficient and warp/corresponding acquisition of latitude measured value
Time substitutes into formulaIt is calculated through/latitude predicted value, and is sent to mean square error calculating
Module；
Wherein, β0For the first coefficient, β1For the second coefficient, T (i) is warp/corresponding acquisition time of latitude measured value, Y
It (i) is warp/latitude measured value, N is the first filtering step-length/second filtering step-length,For warp/latitude predicted value.
Improvement in system embodiment is also applied for embodiment of the method.
Such as Fig. 3, the GPS data length in Fig. 3 is the number of the GPS data stored；The navigation thunder peculiar to vessel of the present embodiment
The course of work of the GPS filtering method reached is: receiving the GPS data that GPS module is sent, includes the warp of ship in GPS data
Measured value, latitude measured value and check code are spent, first determines whether check code meets default check value, if meeting, then judges
Whether the duration between the acquisition time of current GPS data and the acquisition time of last GPS data is greater than preset duration (such as
500ms), if so, current GPS data is stored, if it is not, then rejecting the GPS data；When the number of the GPS data of storage
Greater than preset number, then start further filtering processes, and after receiving new effective GPS data, by oldest stored
GPS data is deleted；When ship occur it is motor-driven, i.e., ship turning, acceleration and deceleration when, according to calculated steering rate or prediction with it is real
The mean square error surveyed between warp/latitude determines filtering step-length, is filtered, is obtained to GPS data using least squares filtering method
It learns from else's experience/latitude predicted value, is filtered until to the last one received GPS data, workflow receives.Wherein, if it is total equal
Square error illustrates that acceleration and deceleration do not occur for ship without departing from error threshold, then is filtered according to the second filtering step-length to GPS data
Wave illustrates that acceleration and deceleration occur for ship if exceeding error threshold, then is filtered according to the first filtering step-length to GPS data；If
Steering rate illustrates that ship does not turn to without departing from threshold value is turned to, then is filtered according to the second filtering step-length to GPS data
Wave, if steering rate illustrates that ship does not turn to without departing from threshold value is turned to, then according to the first filtering step-length to GPS data
It is filtered.The first filtering step-length and the second filtering step-length in the present embodiment are preset value.The present invention is conducive to mention
Accuracy of the height to ship's fix.
For embodiment of the method, for simple description, therefore, it is stated as a series of action combinations, but this field
Technical staff should be aware of, and embodiment of that present invention are not limited by the describe sequence of actions, because implementing according to the present invention
Example, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know that, specification
Described in embodiment belong to preferred embodiment, the actions involved are not necessarily necessary for embodiments of the present invention.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of GPS filtering system of marine navigation radar characterized by comprising
The real-time acquisition module of GPS data for acquiring GPS data in real time, and is sent to GPS data real-time storage update module；
Bow is to the real-time acquisition module of parameter, to parameter and its corresponding adopts for acquiring bow in real time to parameter, and by bow
The collection time is sent to steering rate generation module；
GPS data real-time storage update module, for real-time storage and updates GPS data；
GPS data number real-time judge module, for the GPS data in real-time judge GPS data real-time storage update module
Whether number exceeds predetermined number, if exceeding, edits number judging result and is sent to steering rate generation module；
Steering rate generation module, for after receiving number judging result, bow is to parameter and its corresponding based on the received
Steering rate is calculated in acquisition time, and steering rate is sent to beyond threshold value judgment module；
Beyond threshold value judgment module, for judging whether received steering rate exceeds steering threshold value, if exceeding, editor first sentences
Disconnected result be sent to filtering step-length transfer module, if without departing from, edit the second judging result be sent to filtering step-length transfer mould
Block；It is also used to judge whether received overall mean square error exceeds error threshold, if exceeding, edits the first judging result and be sent to
Filtering step-length transfer module, if without departing from, edit the second judging result be sent to filtering step-length transfer module；
Filtering step-length transfers module, is respectively sent to for when receiving the first judging result, transferring the first filtering step-length
Square error calculating module, GPS data filter module；It is also used to when receiving the second judging result, transfers the second filtering step-length
It is respectively sent to mean square error computing module, GPS data filter module；
Mean square error computing module, for warp/latitude measured value based on the received, through/latitude predicted value and the first filtering step-length/
Second filtering step size computation is obtained through/overall mean square error between latitude measured value and warp/latitude predicted value, and by total mean square error
Difference is sent to beyond threshold value judgment module；
GPS data filter module extracts GPS data for transferring the GPS data in GPS data real-time storage update module
In warp/latitude measured value and its corresponding acquisition time, according to warp/latitude measured value and its corresponding acquisition time and reception
The the first filtering filtering of step-length/second step size computation obtain through/latitude predicted value；Be also used to will through/latitude measured value, through/latitude
Degree predicted value is sent to mean square error computing module.
2. the GPS filtering system of marine navigation radar according to claim 1, which is characterized in that further include: GPS data
Screening module, in real time closing verification code symbol between default check value and current acquisition time and a upper acquisition time
Duration be greater than the GPS data of preset duration and screen, and be sent to GPS data real-time storage update module.
3. the GPS filtering system of marine navigation radar according to claim 2, which is characterized in that steering rate generation module
Bow is substituted into formula to parameter and its corresponding acquisition timeSteering rate is calculated；Wherein,
RRotFor steering rate, h (l) is first bow to parameter, and h (M) is m-th bow to parameter, when h (l) is the acquisition of h (1)
Between, T (M) is the acquisition time of h (M).
4. the GPS filtering system of marine navigation radar according to claim 3, which is characterized in that mean square error calculates mould
Block includes:
Through/latitude mean square error computing unit, for will through/latitude measured value, through/latitude predicted value and the first filtering step-length/
Second filtering step-length substitutes into formulaLongitude mean square error is calculated and latitude is square
Error, and it is sent to overall mean square error computing unit；
Overall mean square error computing unit, for longitude mean square error and latitude mean square error to be substituted into formulaIt is calculated through/overall mean square error between latitude measured value and warp/latitude predicted value, and will be always equal
Square error is sent to beyond threshold value judgment module；
Wherein, wherein σxFor longitude mean square error, σyFor latitude mean square error, N is the first filtering step-length/second filtering step-length, X
It (i) is longitude measured value,For longitude predicted value, Z (i) is latitude measured value,For latitude predicted value, σ is warp/latitude
Spend the overall mean square error between measured value and warp/latitude predicted value.
5. the GPS filtering system of marine navigation radar according to claim 4, which is characterized in that GPS data filter module
Include:
GPS data transfers unit, for transferring the GPS data in GPS data real-time storage update module, and is sent to through/latitude
Spend measured value extraction unit；
Through/latitude measured value extraction unit, when for extracting warp/latitude measured value and its corresponding acquisition in GPS data
Between be sent to coefficient calculation unit；
Coefficient calculation unit is sent for that will transfer module through/latitude measured value and its corresponding acquisition time and filtering step-length
The first filtering filtering step-length of step-length/second substitute into formulaIt calculates
It is sent to the first coefficient and the second coefficient through/latitude predictor calculation unit；
Through/latitude predictor calculation unit, when being used for acquisition that the first coefficient, the second coefficient and warp/latitude measured value is corresponding
Between substitute into formulaIt is calculated through/latitude predicted value, and is sent to mean square error and calculates mould
Block；
Wherein, β0For the first coefficient, β1For the second coefficient, T (i) is warp/corresponding acquisition time of latitude measured value, and Y (i) is
Through/latitude measured value, N is the first filtering step-length/second filtering step-length,For warp/latitude predicted value.
6. a kind of GPS filtering method for the marine navigation radar realized based on system described in claim 1, which is characterized in that packet
Include following steps:
Respectively in real time acquisition GPS data, bow to parameter and its corresponding acquisition time；
Real-time storage simultaneously updates GPS data；
Whether the number of the GPS data of real-time storage exceeds predetermined number, if exceeding, edits number judging result and sends；
After receiving number judging result, it is concurrent that steering rate to parameter and its corresponding acquisition time is calculated according to bow
It send；
Judge whether steering rate exceeds steering threshold value, if exceeding, edits the first judging result and send, if without departing from compiling
It collects the second judging result and sends；
The first filtering step-length is transferred according to the first judging result and is sent, and the second filtering step-length is transferred simultaneously according to the second judging result
It sends；
It obtains according to warp/latitude measured value, through/latitude predicted value and the first filtering step-length/second filtering step size computation through/latitude
Overall mean square error and transmission between measured value and warp/latitude predicted value；
Judge whether overall mean square error exceeds error threshold, if exceeding, edits the first judging result and send, if without departing from,
It then edits the second judging result and sends；
The first filtering step-length is transferred according to the first judging result and is sent, and the second filtering step-length is transferred simultaneously according to the second judging result
It sends；
The GPS data for transferring storage extracts warp/latitude measured value and its corresponding acquisition time in GPS data, according to
It obtains through/latitude measured value and its corresponding acquisition time and received first filtering step-length/second filtering step size computation through/latitude
It spends predicted value, and will be sent through/latitude measured value, through/latitude predicted value.
7. the GPS filtering method of marine navigation radar according to claim 6, which is characterized in that further comprise the steps of: utilization
GPS data screening module in real time will verification code symbol close default check value and current acquisition time and a upper acquisition time it
Between duration be greater than preset duration GPS data screen and send.
8. the GPS filtering method of marine navigation radar according to claim 7, which is characterized in that steering rate is calculated
Formula are as follows:Wherein, RRotFor steering rate, h (l) is first bow to parameter, and h (M) is M
For a bow to parameter, T (l) is the acquisition time of h (l), and T (M) is the acquisition time of h (M).
9. the GPS filtering method of marine navigation radar according to claim 8, which is characterized in that calculate overall mean square error
The step of are as follows:
Using warp/latitude mean square error computing unit will through/latitude measured value, through/latitude predicted value and the first filtering step-length/the
Two filtering step-lengths substitute into formulaLongitude mean square error and latitude mean square error is calculated
Difference, and it is sent to overall mean square error computing unit；
Longitude mean square error and latitude mean square error are substituted into formula using overall mean square error computing unit
It is calculated through/overall mean square error between latitude measured value and warp/latitude predicted value, and overall mean square error is sent to and is exceeded
Threshold value judgment module；
Wherein, wherein σxFor longitude mean square error, σyFor latitude mean square error, N is the first filtering step-length/second filtering step-length, X
It (i) is longitude measured value,For longitude predicted value, Z (i) is latitude measured value,For latitude predicted value, σ is warp/latitude
Spend the overall mean square error between measured value and warp/latitude predicted value.
10. the GPS filtering method of marine navigation radar according to claim 9, which is characterized in that it is pre- to calculate warp/latitude
The step of measured value are as follows:
Unit is transferred using GPS data and transfers GPS data in GPS data real-time storage update module, and is sent to through/latitude
Measured value extraction unit；
Warp/latitude the measured value and its corresponding acquisition time in GPS data are extracted using warp/latitude measured value extraction unit
It is sent to coefficient calculation unit；
Warp/latitude measured value and its corresponding acquisition time and filtering step-length are transferred module transmission by usage factor computing unit
First filtering step-length/second filtering step-length substitutes into formulaIt is calculated
First coefficient and the second coefficient are sent to through/latitude predictor calculation unit；
Using warp/latitude predictor calculation unit by the first coefficient, the second coefficient and warp/corresponding acquisition time of latitude measured value
Substitute into formulaIt is calculated through/latitude predicted value, and is sent to mean square error and calculates mould
Block；
Wherein, β0For the first coefficient, β1For the second coefficient, T (i) is warp/corresponding acquisition time of latitude measured value, and Y (i) is
Through/latitude measured value, N is the first filtering step-length/second filtering step-length,For warp/latitude predicted value.
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