CN109884596B - GPS filtering system and filtering method of marine navigation radar - Google Patents
GPS filtering system and filtering method of marine navigation radar Download PDFInfo
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Abstract
The invention relates to the technical field of ship navigation, in particular to a GPS (global positioning system) filtering system and a filtering method of a ship navigation radar. The system comprises: the real-time GPS data acquisition module and the real-time bow-direction parameter acquisition module are respectively used for acquiring the GPS data in real time and the real-time bow-direction parameters and the corresponding acquisition time; the GPS data real-time storage and updating module is used for storing and updating the GPS data in real time; the GPS data number real-time judgment module is used for editing the number judgment result; the steering rate generating module is used for calculating to obtain the steering rate; the exceeding threshold judging module is used for judging and editing a judging result; the filtering step length calling module is used for calling a filtering step length; the mean square error calculation module is used for calculating to obtain a total mean square error; and the GPS data filtering module is used for calculating to obtain a longitude/latitude predicted value. The invention is beneficial to improving the accuracy of positioning the ship by filtering the measured longitude/latitude value in the GPS data.
Description
Technical Field
The invention relates to the technical field of ship navigation, in particular to a GPS (global positioning system) filtering system and a filtering method of a ship navigation radar.
Background
With the rapid development of marine navigation devices, in addition to using navigation radar echo data, many navigation aids such as electronic charts, log meters, compass, GPS (Global Positioning System), AIS (automatic identification System) and the like are gradually incorporated, which has a great promoting effect on the development of the marine industry. The stability and the accuracy of target tracking are improved by various sensor information, and more favorable guarantee is provided for navigation safety.
In the whole ship navigation radar system, the tracking and the identification of the target are realized by using radar echo video data, however, the tracking target information is relative to the ship. The GPS provides information on the position (longitude and latitude), speed, and heading of the ship, and the compass (Gyro is an instrument for providing a direction reference, and a ship is used to determine the heading and the direction of an observed object) provides information on the heading of the ship. Through the GPS data, geodetic coordinates of the target can be obtained. The AIS target and the radar target are fused by depending on the geodetic coordinate position of the targets. Therefore, the position and heading information of the ship provided by GPS and Gyro are very important. However, when a ship runs on the sea surface, the ship can generate steering and acceleration and deceleration motions, and even if the ship runs at a constant speed, the GPS data can generate a system error, so that filtering the GPS data is particularly important.
Common filtering algorithms include least squares, kalman filtering, and variations thereof. The kalman filter method is an ideal method that is stable in filtering and suitable for various conditions, but it requires to grasp exact statistical data in advance, such as statistical characteristics of target acceleration, and these knowledge are not easily obtained. Moreover, the kalman filtering method is computationally complex.
Therefore, a GPS filtering system and a GPS filtering method for a marine navigation radar are urgently needed.
Disclosure of Invention
The invention provides a GPS filtering system and a filtering method of a marine navigation radar, which are used for positioning a ship more accurately and mastering the course and the speed of the ship.
In one aspect of the present invention, a GPS filtering system for a marine navigation radar is provided, including:
the GPS data real-time acquisition module is used for acquiring GPS data in real time and sending the GPS data to the GPS data real-time storage and updating module;
the real-time acquisition module of the ship bow direction parameters is used for acquiring the ship bow direction parameters in real time and sending the ship bow direction parameters and the acquisition time corresponding to the ship bow direction parameters to the steering rate generation module;
the GPS data real-time storage and updating module is used for storing and updating the GPS data in real time;
the real-time judging module of the number of the GPS data is used for judging whether the number of the GPS data in the real-time storing and updating module of the GPS data exceeds the preset number in real time, if so, editing the number judging result and sending the number judging result to the steering rate generating module;
the steering rate generation module is used for calculating the steering rate according to the received bow direction parameters and the corresponding acquisition time after receiving the number judgment results, and sending the steering rate to the exceeding threshold value judgment module;
the exceeding threshold value judging module is used for judging whether the received steering rate exceeds a steering threshold value, if so, editing a first judging result and sending the first judging result to the filtering step length calling module, and if not, editing a second judging result and sending the second judging result to the filtering step length calling module; the device is also used for judging whether the received total mean square error exceeds an error threshold value, if so, editing a first judgment result and sending the first judgment result to the filtering step length calling module, and if not, editing a second judgment result and sending the second judgment result to the filtering step length calling module;
the filtering step length calling module is used for calling a first filtering step length and respectively sending the first filtering step length to the mean square error calculating module and the GPS data filtering module when receiving a first judgment result; the GPS data filtering module is also used for calling a second filtering step length and respectively sending the second filtering step length to the mean square error calculating module and the GPS data filtering module when a second judgment result is received;
the mean square error calculation module is used for calculating to obtain a total mean square error between the longitude/latitude measured value and the longitude/latitude predicted value according to the received longitude/latitude measured value, the longitude/latitude predicted value and the first filtering step length/second filtering step length, and sending the total mean square error to the exceeding threshold judgment module;
the GPS data filtering module is used for calling the GPS data in the GPS data real-time storage updating module, extracting a longitude/latitude measured value and corresponding acquisition time in the GPS data, and calculating according to the longitude/latitude measured value and the corresponding acquisition time and the received first filtering step length/second filtering step length to obtain a longitude/latitude predicted value; and the system is also used for sending the longitude/latitude measured value and the longitude/latitude predicted value to the mean square error calculation module.
Further, still include: and the GPS data screening module is used for screening out the GPS data of which the check code accords with a preset check value and the time length between the current acquisition time and the last acquisition time is greater than the preset time length in real time and sending the GPS data to the GPS data real-time storage and updating module.
Further, the steering rate generation module substitutes the ship bow direction parameters and the corresponding acquisition time into a formula
Calculating to obtain the steering rate; wherein R isRotFor the steering rate, h (1) is a first ship heading parameter, h (M) is an Mth ship heading parameter, T (1) is the acquisition time of h (1), and T (M) is the acquisition time of h (M).
Further, the mean square error calculation module comprises:
a longitude/latitude mean square error calculation unit for substituting the measured longitude/latitude value, the predicted longitude/latitude value and the first/second filtering step into a formulaCalculating to obtain a longitude mean square error and a latitude mean square error, and sending the longitude mean square error and the latitude mean square error to a total mean square error calculating unit;
a total mean square error calculation unit for substituting the longitude mean square error and the latitude mean square error into a formula
Calculating to obtain a total mean square error between the measured longitude/latitude value and the predicted longitude/latitude value, and sending the total mean square error to the exceeding threshold judgment module;
wherein σxAs mean square error of longitude, σyIs latitude mean square error, N is a first filtering step-A second filtering step size, X (i) is the longitude actual value,
is a longitude predicted value, Z (i) is a latitude measured value,
the predicted latitude value is σ, and σ is the total mean square error between the measured longitude/latitude value and the predicted longitude/latitude value.
Further, the GPS data filtering module includes:
the GPS data calling unit is used for calling the GPS data in the GPS data real-time storage updating module and sending the GPS data to the longitude/latitude measured value extracting unit;
the longitude/latitude measured value extracting unit is used for extracting the longitude/latitude measured value in the GPS data and sending the longitude/latitude measured value and the corresponding acquisition time to the coefficient calculating unit;
a coefficient calculating unit for substituting the measured longitude/latitude value and the corresponding first filtering step length/second filtering step length sent by the acquisition time and filtering step length calling module into a formula
The first coefficient and the second coefficient obtained by calculation are sent to a longitude/latitude predicted value calculation unit;
a predicted longitude/latitude value calculating unit for substituting the first coefficient, the second coefficient and the corresponding acquisition time of the measured longitude/latitude value into a formula
Calculating to obtain a longitude/latitude predicted value, and sending the longitude/latitude predicted value to a mean square error calculation module;
wherein, beta0Is a first coefficient, beta1T (i) is the acquisition time corresponding to the measured longitude/latitude value, Y (i) is the measured longitude/latitude value, N is the first filtering step length/the second filtering step length,
is the predicted value of longitude/latitude.
In a second aspect of the present invention, a GPS filtering method for a marine navigation radar is provided, which is implemented based on the system described above, and includes the following steps:
respectively acquiring GPS data, ship bow direction parameters and corresponding acquisition time in real time;
storing and updating GPS data in real time;
whether the number of the GPS data stored in real time exceeds a preset number or not is judged, and if the number of the GPS data exceeds the preset number, a number judgment result is edited and sent;
after receiving the number judgment result, calculating according to the bow direction parameter and the corresponding acquisition time to obtain the steering rate and sending the steering rate;
judging whether the steering rate exceeds a steering threshold value, if so, editing a first judgment result and sending the first judgment result, and if not, editing a second judgment result and sending the second judgment result;
calling and sending a first filtering step length according to the first judgment result, and calling and sending a second filtering step length according to the second judgment result;
calculating according to the longitude/latitude measured value, the longitude/latitude predicted value and the first filtering step length/the second filtering step length to obtain a total mean square error between the longitude/latitude measured value and the longitude/latitude predicted value, and sending the total mean square error;
judging whether the total mean square error exceeds an error threshold value, if so, editing a first judgment result and sending the first judgment result, and if not, editing a second judgment result and sending the second judgment result;
calling and sending a first filtering step length according to the first judgment result, and calling and sending a second filtering step length according to the second judgment result;
and calling the stored GPS data, extracting the longitude/latitude measured value and the corresponding acquisition time in the GPS data, calculating according to the longitude/latitude measured value and the corresponding acquisition time as well as the received first filtering step length/second filtering step length to obtain a longitude/latitude predicted value, and sending the longitude/latitude measured value and the longitude/latitude predicted value.
Further, the method also comprises the following steps: and screening and sending the GPS data of which the check code accords with a preset check value and the time length between the current acquisition time and the last acquisition time is greater than the preset time length by using a GPS data screening module.
Further, the formula for calculating the steering rate is as follows:
wherein R isRotFor the steering rate, h (1) is a first ship heading parameter, h (M) is an Mth ship heading parameter, T (1) is the acquisition time of h (1), and T (M) is the acquisition time of h (M).
Further, the step of calculating the total mean square error is:
substituting the measured value of longitude/latitude, the predicted value of longitude/latitude and the first/second filtering step into a formula by using a longitude/latitude mean square error calculation unit
Calculating to obtain a longitude mean square error and a latitude mean square error, and sending the longitude mean square error and the latitude mean square error to a total mean square error calculating unit;
substituting longitude mean square error and latitude mean square error into formula by using total mean square error calculation unit
Calculating to obtain a total mean square error between the measured longitude/latitude value and the predicted longitude/latitude value, and sending the total mean square error to the exceeding threshold judgment module;
wherein σxAs mean square error of longitude, σyIs the mean squared latitude error, N is the first filtering step/the second filtering step, X (i) is the measured longitude value,
is a longitude predicted value, Z (i) is a latitude measured value,
the predicted latitude value is σ, and σ is the total mean square error between the measured longitude/latitude value and the predicted longitude/latitude value.
Further, the step of calculating the longitude/latitude predicted value is as follows:
the GPS data in the GPS data real-time storage updating module is called by the GPS data calling unit and is sent to the longitude/latitude measured value extracting unit;
a longitude/latitude measured value extracting unit is used for extracting the longitude/latitude measured value in the GPS data and sending the longitude/latitude measured value and the corresponding acquisition time to a coefficient calculating unit;
substituting the measured longitude/latitude value and the corresponding acquisition time and the first filtering step length/the second filtering step length sent by the filtering step length calling module into a formula by using a coefficient calculation unit
The first coefficient and the second coefficient obtained by calculation are sent to a longitude/latitude predicted value calculation unit;
substituting the acquisition time corresponding to the first coefficient, the second coefficient and the measured value of longitude/latitude into a formula by using a predicted value calculation unit of longitude/latitude
Calculating to obtain a longitude/latitude predicted value, and sending the longitude/latitude predicted value to a mean square error calculation module;
wherein β 0 is a first coefficient, β 1 is a second coefficient, T (i) is an acquisition time corresponding to the measured longitude/latitude value, Y (i) is the measured longitude/latitude value, N is a first filtering step length/a second filtering step length,
is the predicted value of longitude/latitude.
Compared with the prior art, the GPS filtering system and the filtering method of the marine navigation radar have the following advantages that: the method judges whether the ship turns according to the ship heading parameter and judges whether the ship maneuvers according to the mean square error so as to determine the filtering step length, and then filters the longitude/latitude in the collected GPS data according to the filtering step length, thereby being beneficial to improving the accuracy of positioning the ship and having the advantages of simple operation, lower cost and higher efficiency.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a block diagram of the components of a GPS filtering system of a marine navigation radar according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating the steps of a GPS filtering method for a marine navigation radar according to an embodiment of the present invention;
FIG. 3 is a flowchart of a GPS filtering method for a marine navigation radar according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The embodiment provides a GPS filtering system and a filtering method of a marine navigation radar.
As shown in fig. 1, the GPS filtering system of the marine navigation radar of the present embodiment includes:
the GPS data real-time acquisition module is used for acquiring GPS data in real time and sending the GPS data to the GPS data real-time storage and updating module;
the real-time acquisition module of the ship bow direction parameters is used for acquiring the ship bow direction parameters in real time and sending the ship bow direction parameters and the acquisition time corresponding to the ship bow direction parameters to the steering rate generation module;
the GPS data real-time storage and updating module is used for storing and updating the GPS data in real time;
the real-time judging module of the number of the GPS data is used for judging whether the number of the GPS data in the real-time storing and updating module of the GPS data exceeds the preset number in real time, if so, editing the number judging result and sending the number judging result to the steering rate generating module;
the steering rate generation module is used for calculating the steering rate according to the received bow direction parameters and the corresponding acquisition time after receiving the number judgment results, and sending the steering rate to the exceeding threshold value judgment module;
the exceeding threshold value judging module is used for judging whether the received steering rate exceeds a steering threshold value, if so, editing a first judging result and sending the first judging result to the filtering step length calling module, and if not, editing a second judging result and sending the second judging result to the filtering step length calling module; the device is also used for judging whether the received total mean square error exceeds an error threshold value, if so, editing a first judgment result and sending the first judgment result to the filtering step length calling module, and if not, editing a second judgment result and sending the second judgment result to the filtering step length calling module;
the filtering step length calling module is used for calling a first filtering step length and respectively sending the first filtering step length to the mean square error calculating module and the GPS data filtering module when receiving a first judgment result; the GPS data filtering module is also used for calling a second filtering step length and respectively sending the second filtering step length to the mean square error calculating module and the GPS data filtering module when a second judgment result is received;
the mean square error calculation module is used for calculating to obtain a total mean square error between the longitude/latitude measured value and the longitude/latitude predicted value according to the received longitude/latitude measured value, the longitude/latitude predicted value and the first filtering step length/second filtering step length, and sending the total mean square error to the exceeding threshold judgment module;
the GPS data filtering module is used for calling the GPS data in the GPS data real-time storage updating module, extracting a longitude/latitude measured value and corresponding acquisition time in the GPS data, and calculating according to the longitude/latitude measured value and the corresponding acquisition time and the received first filtering step length/second filtering step length to obtain a longitude/latitude predicted value; and the system is also used for sending the longitude/latitude measured value and the longitude/latitude predicted value to the mean square error calculation module.
The method judges whether the ship turns according to the ship heading parameter and judges whether the ship maneuvers according to the mean square error so as to determine the filtering step length, and then filters the longitude/latitude in the collected GPS data according to the filtering step length, thereby being beneficial to improving the accuracy of positioning the ship and having the advantages of simple operation, lower cost and higher efficiency.
As shown in fig. 1, the GPS filtering system of the marine navigation radar of the present embodiment further includes: and the GPS data screening module is used for screening out the GPS data of which the check code accords with a preset check value and the time length between the current acquisition time and the last acquisition time is greater than the preset time length in real time and sending the GPS data to the GPS data real-time storage and updating module. Invalid GPS data is screened out, and the improvement of the working efficiency and the accuracy of a final result are facilitated.
In specific implementation, the steering rate generation module substitutes the ship bow direction parameters and the corresponding acquisition time into a formula
Calculating to obtain the steering rate; wherein R isRotFor the steering rate, h (1) is a first ship heading parameter, h (M) is an Mth ship heading parameter, T (1) is the acquisition time of h (1), and T (M) is the acquisition time of h (M).
As shown in fig. 1, in the GPS filtering system of the marine navigation radar of this embodiment, the mean square error calculating module includes:
a longitude/latitude mean square error calculation unit for calculating the longitude/latitude measured value, the longitude/latitude predicted value and the first filtering step length/the second filteringFormula of substituting step length
Calculating to obtain a longitude mean square error and a latitude mean square error, and sending the longitude mean square error and the latitude mean square error to a total mean square error calculating unit;
the longitude measured value, the longitude predicted value and the first filter step length/the second filter step length are substituted into a formula in the longitude/latitude mean square error calculation unit to calculate and obtain a longitude mean square error; and substituting the latitude measured value, the latitude predicted value and the first filtering step length/the second filtering step length into a formula in the longitude/latitude mean square error calculation unit to calculate the latitude mean square error.
A total mean square error calculation unit for substituting the longitude mean square error and the latitude mean square error into a formula
Calculating to obtain a total mean square error between the measured longitude/latitude value and the predicted longitude/latitude value, and sending the total mean square error to the exceeding threshold judgment module;
wherein σxAs mean square error of longitude, σyIs the mean squared latitude error, N is the first filtering step/the second filtering step, X (i) is the measured longitude value,
is a longitude predicted value, Z (i) is a latitude measured value,
the predicted latitude value is σ, and σ is the total mean square error between the measured longitude/latitude value and the predicted longitude/latitude value.
As shown in fig. 1, in the GPS filtering system of the marine navigation radar of this embodiment, the GPS data filtering module includes:
the GPS data calling unit is used for calling the GPS data in the GPS data real-time storage updating module and sending the GPS data to the longitude/latitude measured value extracting unit;
the longitude/latitude measured value extracting unit is used for extracting the longitude/latitude measured value in the GPS data and sending the longitude/latitude measured value and the corresponding acquisition time to the coefficient calculating unit;
a coefficient calculating unit for substituting the measured longitude/latitude value and the corresponding first filtering step length/second filtering step length sent by the acquisition time and filtering step length calling module into a formula
The first coefficient and the second coefficient obtained by calculation are sent to a longitude/latitude predicted value calculation unit;
a predicted longitude/latitude value calculating unit for substituting the first coefficient, the second coefficient and the corresponding acquisition time of the measured longitude/latitude value into a formula
Calculating to obtain a longitude/latitude predicted value, and sending the longitude/latitude predicted value to a mean square error calculation module;
substituting the longitude measured value and the corresponding acquisition time and the first filtering step length/the second filtering step length sent by the filtering step length calling module into a formula in the coefficient calculation unit to calculate a first coefficient and a second coefficient; then, the acquisition time corresponding to the first coefficient, the second coefficient and the longitude measured value is substituted into the formula
Calculating to obtain a longitude predicted value; substituting the latitude measured value and the corresponding acquisition time and the first filtering step length/the second filtering step length sent by the filtering step length calling module into a formula in the coefficient calculation unit to calculate a first coefficient and a second coefficient; then substituting the acquisition time corresponding to the first coefficient, the second coefficient and the latitude measured value into a formula
And calculating to obtain a latitude predicted value.
Wherein β 0 is a first coefficient, β 1 is a second coefficient, T (i) is an acquisition time corresponding to the measured longitude/latitude value, Y (i) is the measured longitude/latitude value, N is a first filtering step length/a second filtering step length,
is the predicted value of longitude/latitude.
As shown in fig. 2, a GPS filtering method for a marine navigation radar implemented based on the system of the embodiment of the present invention includes the following steps:
s1, respectively acquiring GPS data, the bow direction parameters and corresponding acquisition time in real time;
s2, storing and updating GPS data in real time;
s3, judging whether the number of the GPS data stored in real time exceeds the preset number, and if so, editing the number judgment result and sending the number judgment result;
s4, after the number judgment result is received, calculating according to the bow direction parameter and the corresponding acquisition time to obtain the steering rate and sending the steering rate;
s5, judging whether the steering rate exceeds a steering threshold value, if so, editing a first judgment result and sending the first judgment result, and if not, editing a second judgment result and sending the second judgment result;
s6, calling and sending a first filtering step length according to the first judgment result, and calling and sending a second filtering step length according to the second judgment result;
s7, calculating a total mean square error between the longitude/latitude measured value and the longitude/latitude predicted value according to the longitude/latitude measured value, the longitude/latitude predicted value and the first filtering step length/the second filtering step length, and sending the total mean square error;
s8, judging whether the total mean square error exceeds an error threshold value, if so, editing a first judgment result and sending the first judgment result, and if not, editing a second judgment result and sending the second judgment result;
s9, calling and sending a first filtering step length according to the first judgment result, and calling and sending a second filtering step length according to the second judgment result;
s10, retrieving the stored GPS data, extracting the longitude/latitude measured value and the corresponding acquisition time in the GPS data, calculating according to the longitude/latitude measured value and the corresponding acquisition time and the received first filtering step length/second filtering step length to obtain a longitude/latitude predicted value, and sending the longitude/latitude measured value and the longitude/latitude predicted value.
The method judges whether the ship turns according to the ship heading parameter and judges whether the ship maneuvers according to the mean square error so as to determine the filtering step length, and then filters the longitude/latitude in the collected GPS data according to the filtering step length, thereby being beneficial to improving the accuracy of positioning the ship and having the advantages of simple operation, lower cost and higher efficiency.
The GPS filtering method using a navigation radar of the present embodiment further includes, before the step S2 and after the step S1, the steps of: and screening and sending the GPS data of which the check code accords with a preset check value and the time length between the current acquisition time and the last acquisition time is greater than the preset time length by using a GPS data screening module. Invalid GPS data is screened out, and the improvement of the working efficiency and the accuracy of a final result are facilitated.
In specific implementation, the formula for calculating the steering rate is as follows:
wherein R isRotFor the steering rate, h (1) is a first ship heading parameter, h (M) is an Mth ship heading parameter, T (1) is the acquisition time of h (1), and T (M) is the acquisition time of h (M).
In specific implementation, the specific step of calculating the total mean square error in step S7 includes:
substituting the measured value of longitude/latitude, the predicted value of longitude/latitude and the first/second filtering step into a formula by using a longitude/latitude mean square error calculation unit
Calculating to obtain a longitude mean square error and a latitude mean square error, and sending the longitude mean square error and the latitude mean square error to a total mean square error calculating unit;
substituting longitude mean square error and latitude mean square error into formula by using total mean square error calculation unit
Calculating to obtain a total mean square error between the measured longitude/latitude value and the predicted longitude/latitude value, and sending the total mean square error to the exceeding threshold judgment module;
wherein σxAs mean square error of longitude, σyIs the mean squared latitude error, N is the first filtering step/the second filtering step, X (i) is the measured longitude value,
is a longitude predicted value, Z (i) is a latitude measured value,
the predicted latitude value is σ, and σ is the total mean square error between the measured longitude/latitude value and the predicted longitude/latitude value.
In specific implementation, the step of calculating the longitude/latitude predicted value in step S10 includes:
the GPS data in the GPS data real-time storage updating module is called by the GPS data calling unit and is sent to the longitude/latitude measured value extracting unit;
a longitude/latitude measured value extracting unit is used for extracting the longitude/latitude measured value in the GPS data and sending the longitude/latitude measured value and the corresponding acquisition time to a coefficient calculating unit;
substituting the measured longitude/latitude value and the corresponding acquisition time and the first filtering step length/the second filtering step length sent by the filtering step length calling module into a formula by using a coefficient calculation unit
The first coefficient and the second coefficient obtained by calculation are sent to a longitude/latitude predicted value calculation unit;
substituting the acquisition time corresponding to the first coefficient, the second coefficient and the measured value of longitude/latitude into a formula by using a predicted value calculation unit of longitude/latitude
Calculating to obtain a longitude/latitude predicted value, and sending the longitude/latitude predicted value to a mean square error calculation module;
wherein, beta0Is a first coefficient, beta1T (i) is the acquisition time corresponding to the measured longitude/latitude value, Y (i) is the measured longitude/latitude value, N is the first filtering step length/the second filtering step length,
is the predicted value of longitude/latitude.
The improvements in the system embodiments are also applicable to the method embodiments.
As shown in fig. 3, the length of the GPS data in fig. 3 is the number of stored GPS data; the working process of the GPS filtering method of the marine navigation radar of the embodiment is as follows: receiving GPS data sent by a GPS module, wherein the GPS data comprises a longitude measured value, a latitude measured value and a check code of a ship, firstly judging whether the check code accords with a preset check value, if so, judging whether the time length between the acquisition time of the current GPS data and the acquisition time of the last GPS data is greater than the preset time length (such as 500ms), if so, storing the current GPS data, and if not, rejecting the GPS data; when the number of the stored GPS data is larger than the preset number, starting a subsequent filtering process, and deleting the oldest stored GPS data after receiving new effective GPS data; when the ship is maneuvering, namely, the ship turns, accelerates and decelerates, the filtering step length is determined according to the calculated turning rate or the mean square error between the predicted longitude/latitude and the actually measured longitude/latitude, the GPS data is filtered by adopting a least square filtering method, the predicted value of the longitude/latitude is obtained until the last GPS data is filtered, and the work flow receives the data. If the total mean square error does not exceed the error threshold, it indicates that acceleration and deceleration of the ship does not occur, filtering the GPS data according to a second filtering step length, and if the total mean square error exceeds the error threshold, it indicates that acceleration and deceleration of the ship occur, filtering the GPS data according to a first filtering step length; and if the steering rate does not exceed the steering threshold, indicating that the ship does not steer, filtering the GPS data according to a second filtering step length, and if the steering rate does not exceed the steering threshold, indicating that the ship does not steer, filtering the GPS data according to a first filtering step length. In this embodiment, the first filtering step and the second filtering step are both preset values. The invention is beneficial to improving the accuracy of positioning the ship.
For simplicity of explanation, the method embodiments are described as a series of acts or combinations, but those skilled in the art will appreciate that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the embodiments of the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A GPS filtering system for a marine navigation radar, comprising:
the GPS data real-time acquisition module is used for acquiring GPS data in real time and sending the GPS data to the GPS data real-time storage and updating module;
the real-time acquisition module of the ship bow direction parameters is used for acquiring the ship bow direction parameters in real time and sending the ship bow direction parameters and the acquisition time corresponding to the ship bow direction parameters to the steering rate generation module;
the GPS data real-time storage and updating module is used for storing and updating the GPS data in real time;
the real-time judging module of the number of the GPS data is used for judging whether the number of the GPS data in the real-time storing and updating module of the GPS data exceeds the preset number in real time, if so, editing the number judging result and sending the number judging result to the steering rate generating module;
the steering rate generation module is used for calculating the steering rate according to the received bow direction parameters and the corresponding acquisition time after receiving the number judgment results, and sending the steering rate to the exceeding threshold value judgment module;
the exceeding threshold value judging module is used for judging whether the received steering rate exceeds a steering threshold value, if so, editing a first judging result and sending the first judging result to the filtering step length calling module, and if not, editing a second judging result and sending the second judging result to the filtering step length calling module; the device is also used for judging whether the received total mean square error exceeds an error threshold value, if so, editing a first judgment result and sending the first judgment result to the filtering step length calling module, and if not, editing a second judgment result and sending the second judgment result to the filtering step length calling module;
the filtering step length calling module is used for calling a first filtering step length and respectively sending the first filtering step length to the mean square error calculating module and the GPS data filtering module when receiving a first judgment result; the GPS data filtering module is also used for calling a second filtering step length and respectively sending the second filtering step length to the mean square error calculating module and the GPS data filtering module when a second judgment result is received;
the mean square error calculation module is used for calculating to obtain a total mean square error between the longitude/latitude measured value and the longitude/latitude predicted value according to the received longitude/latitude measured value, the longitude/latitude predicted value and the first filtering step length/second filtering step length, and sending the total mean square error to the exceeding threshold judgment module;
the GPS data filtering module is used for calling the GPS data in the GPS data real-time storage updating module, extracting a longitude/latitude measured value and corresponding acquisition time in the GPS data, and calculating according to the longitude/latitude measured value and the corresponding acquisition time and the received first filtering step length/second filtering step length to obtain a longitude/latitude predicted value; and the system is also used for sending the longitude/latitude measured value and the longitude/latitude predicted value to the mean square error calculation module.
2. The GPS filter system for a marine navigation radar according to claim 1, further comprising: and the GPS data screening module is used for screening out the GPS data of which the check code accords with a preset check value and the time length between the current acquisition time and the last acquisition time is greater than the preset time length in real time and sending the GPS data to the GPS data real-time storage and updating module.
3. The GPS filtering system of claim 2, wherein the turning rate generation module is configured to generate the heading parameter and the turning rate thereofCorresponding acquisition time substitution formula
Calculating to obtain the steering rate; wherein R isRotFor the steering rate, h (1) is a first ship heading parameter, h (M) is an Mth ship heading parameter, T (1) is the acquisition time of h (1), and T (M) is the acquisition time of h (M).
4. The GPS filtering system of the ship navigation radar according to claim 3, wherein the mean square error calculation module comprises:
a longitude/latitude mean square error calculation unit for substituting the measured longitude/latitude value, the predicted longitude/latitude value and the first/second filtering step into a formula
Calculating to obtain a longitude mean square error and a latitude mean square error, and sending the longitude mean square error and the latitude mean square error to a total mean square error calculating unit;
a total mean square error calculation unit for substituting the longitude mean square error and the latitude mean square error into a formula
Calculating to obtain a total mean square error between the measured longitude/latitude value and the predicted longitude/latitude value, and sending the total mean square error to the exceeding threshold judgment module;
wherein σxAs mean square error of longitude, σyIs the mean squared latitude error, N is the first filtering step/the second filtering step, X (i) is the measured longitude value,
is a longitude predicted value, Z (i) is a latitude measured value,
the predicted latitude value is σ, and σ is the total mean square error between the measured longitude/latitude value and the predicted longitude/latitude value.
5. The GPS filtering system of the marine navigation radar according to claim 4, wherein the GPS data filtering module comprises:
the GPS data calling unit is used for calling the GPS data in the GPS data real-time storage updating module and sending the GPS data to the longitude/latitude measured value extracting unit;
the longitude/latitude measured value extracting unit is used for extracting the longitude/latitude measured value in the GPS data and sending the longitude/latitude measured value and the corresponding acquisition time to the coefficient calculating unit;
a coefficient calculating unit for substituting the measured longitude/latitude value and the corresponding first filtering step length/second filtering step length sent by the acquisition time and filtering step length calling module into a formula
The first coefficient and the second coefficient obtained by calculation are sent to a longitude/latitude predicted value calculation unit;
a predicted longitude/latitude value calculating unit for substituting the first coefficient, the second coefficient and the corresponding acquisition time of the measured longitude/latitude value into a formula
Calculating to obtain a longitude/latitude predicted value, and sending the longitude/latitude predicted value to a mean square error calculation module;
wherein, beta0Is a first coefficient, beta1T (i) is the acquisition time corresponding to the measured longitude/latitude value, Y (i) is the measured longitude/latitude value, N is the first filtering step length/the second filtering step length,
is the predicted value of longitude/latitude.
6. A GPS filtering method for a marine navigation radar implemented based on the system of claim 1, comprising the steps of:
respectively acquiring GPS data, ship bow direction parameters and corresponding acquisition time in real time;
storing and updating GPS data in real time;
whether the number of the GPS data stored in real time exceeds a preset number or not is judged, and if the number of the GPS data exceeds the preset number, a number judgment result is edited and sent;
after receiving the number judgment result, calculating according to the bow direction parameter and the corresponding acquisition time to obtain the steering rate and sending the steering rate;
judging whether the steering rate exceeds a steering threshold value, if so, editing a first judgment result and sending the first judgment result, and if not, editing a second judgment result and sending the second judgment result;
calling and sending a first filtering step length according to the first judgment result, and calling and sending a second filtering step length according to the second judgment result;
calculating according to the longitude/latitude measured value, the longitude/latitude predicted value and the first filtering step length/the second filtering step length to obtain a total mean square error between the longitude/latitude measured value and the longitude/latitude predicted value, and sending the total mean square error;
judging whether the total mean square error exceeds an error threshold value, if so, editing a first judgment result and sending the first judgment result, and if not, editing a second judgment result and sending the second judgment result;
calling and sending a first filtering step length according to the first judgment result, and calling and sending a second filtering step length according to the second judgment result;
and calling the stored GPS data, extracting the longitude/latitude measured value and the corresponding acquisition time in the GPS data, calculating according to the longitude/latitude measured value and the corresponding acquisition time as well as the received first filtering step length/second filtering step length to obtain a longitude/latitude predicted value, and sending the longitude/latitude measured value and the longitude/latitude predicted value.
7. The GPS filtering method for the ship navigation radar according to claim 6, further comprising the steps of: and screening and sending the GPS data of which the check code accords with a preset check value and the time length between the current acquisition time and the last acquisition time is greater than the preset time length by using a GPS data screening module.
8. The method of claim 7The GPS filtering method of the marine navigation radar is characterized in that a formula for obtaining the steering rate by calculation is as follows:
wherein R isRotFor the steering rate, h (1) is a first ship heading parameter, h (M) is an Mth ship heading parameter, T (1) is the acquisition time of h (1), and T (M) is the acquisition time of h (M).
9. The GPS filtering method of a ship navigation radar according to claim 8, wherein the step of calculating the total mean square error comprises:
substituting the measured value of longitude/latitude, the predicted value of longitude/latitude and the first/second filtering step into a formula by using a longitude/latitude mean square error calculation unit
Calculating to obtain a longitude mean square error and a latitude mean square error, and sending the longitude mean square error and the latitude mean square error to a total mean square error calculating unit;
substituting longitude mean square error and latitude mean square error into formula by using total mean square error calculation unit
Calculating to obtain a total mean square error between the measured longitude/latitude value and the predicted longitude/latitude value, and sending the total mean square error to the exceeding threshold judgment module;
wherein σxAs mean square error of longitude, σyIs the mean squared latitude error, N is the first filtering step/the second filtering step, X (i) is the measured longitude value,
is a longitude predicted value, Z (i) is a latitude measured value,
the predicted latitude value is σ, and σ is the total mean square error between the measured longitude/latitude value and the predicted longitude/latitude value.
10. The GPS filtering method for a marine navigation radar according to claim 9, wherein the step of calculating the longitude/latitude prediction value is:
the GPS data in the GPS data real-time storage updating module is called by the GPS data calling unit and is sent to the longitude/latitude measured value extracting unit;
a longitude/latitude measured value extracting unit is used for extracting the longitude/latitude measured value in the GPS data and sending the longitude/latitude measured value and the corresponding acquisition time to a coefficient calculating unit;
substituting the measured longitude/latitude value and the corresponding acquisition time and the first filtering step length/the second filtering step length sent by the filtering step length calling module into a formula by using a coefficient calculation unit
The first coefficient and the second coefficient obtained by calculation are sent to a longitude/latitude predicted value calculation unit;
substituting the acquisition time corresponding to the first coefficient, the second coefficient and the measured value of longitude/latitude into a formula by using a predicted value calculation unit of longitude/latitude
Calculating to obtain a longitude/latitude predicted value, and sending the longitude/latitude predicted value to a mean square error calculation module;
wherein, beta0Is a first coefficient, beta1T (i) is the acquisition time corresponding to the measured longitude/latitude value, Y (i) is the measured longitude/latitude value, N is the first filtering step length/the second filtering step length,
is the predicted value of longitude/latitude.
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