CN110986947A - Multi-target self-propelled ship model track tracking measurement method - Google Patents

Multi-target self-propelled ship model track tracking measurement method Download PDF

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CN110986947A
CN110986947A CN201911206118.9A CN201911206118A CN110986947A CN 110986947 A CN110986947 A CN 110986947A CN 201911206118 A CN201911206118 A CN 201911206118A CN 110986947 A CN110986947 A CN 110986947A
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sequence
azimuth
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propelled ship
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CN110986947B (en
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吴俊�
舒岳阶
张绪进
周世良
李晓飚
周远航
马御风
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Chongqing Jiaotong University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract

The invention discloses a multi-target self-propelled ship model track tracking and measuring method, which comprises the following steps: s1, acquiring an initial azimuth sequence of a self-propelled ship model; s2, acquiring an azimuth sequence in the self-propelled ship model movement process; s3, calculating a residual error matrix of the azimuth sequence and the initial azimuth sequence; s4, carrying out re-matching on the azimuth angle of the azimuth angle sequence according to the residual error matrix to obtain a new azimuth angle sequence; s5, calculating the coordinates of the self-propelled ship model target according to the new azimuth sequence; s6, analogizing according to the steps S2-S5 until the test is finished, and obtaining a coordinate set of the self-propelled ship model target; and S7, calculating the running track of the self-propelled ship model according to the coordinate set of the self-propelled ship model target. The multi-target self-propelled ship model track tracking and measuring method can track and measure a plurality of self-propelled ship model tracks simultaneously under the advantages of high precision and high frequency response.

Description

Multi-target self-propelled ship model track tracking measurement method
Technical Field
The invention relates to the field of self-propelled ship model tracking measurement, in particular to a multi-target self-propelled ship model track tracking measurement method.
Background
Navigation tracks are key parameters of a navigation test of a self-propelled ship model, multi-ship navigation conditions are hot spots and difficult points of research on the self-propelled ship model of a hydraulic physical model in recent years, and the current self-propelled ship model track measuring methods mainly comprise two methods:
① laser angle measurement cross positioning method, installing two reflection targets at the head and the tail of the self-propelled ship model, using two laser angle measurement scanning systems to scan the azimuth angles of the two targets, calculating the self-propelled ship model sailing track in real time based on the cross positioning method.
② image recognition tracking measurement method, installing camera above the physical model, tracking and measuring the self-navigation ship model navigation track based on the machine vision method compared with the laser angle measurement cross positioning method, the method has no limit to the self-navigation ship model number, can realize the simultaneous tracking and measurement of the multi-ship motion track, but the method has extremely high calculation efficiency depending on hardware resources and poor real-time performance, and is still in the test improvement stage at present because the edge distortion is difficult to correct, the environment illumination condition is complex and the measurement precision is lower than that of the laser angle measurement cross positioning method.
Therefore, in order to solve the above problems, a multi-target self-propelled ship model trajectory tracking and measuring method is needed, which can track and measure multiple self-propelled ship model trajectories simultaneously while maintaining the advantages of high precision and high frequency response.
Disclosure of Invention
In view of the above, the present invention aims to overcome the defects in the prior art, and provide a multi-target self-propelled ship model trajectory tracking and measuring method, which can simultaneously track and measure multiple self-propelled ship model trajectories while maintaining the advantages of high precision and high frequency response.
The invention discloses a multi-target self-propelled ship model track tracking and measuring method, which comprises the following steps:
s1, before the test starts, sequentially arranging n self-propelled ship models to enable the bow directions of the n self-propelled ship models to be consistent, respectively arranging a bow target and a stern target for the n self-propelled ship models, and simultaneously scanning the bow targets and the stern targets of the n self-propelled ship models by using two sets of scanners to obtain an initial left azimuth sequence G of the n self-propelled ship model targets0：
Figure BDA0002296964310000021
And the initial right azimuth angle sequence H0：
Figure BDA0002296964310000022
Wherein N is 1,2,3, …, N; 1,2, …, n; i is the self-propelled ship model number;
Figure BDA0002296964310000023
and
Figure BDA0002296964310000024
respectively scanning the ith self-propelled ship model by one set of scanner to obtain a bow azimuth angle and a stern azimuth angle;
Figure BDA0002296964310000025
and
Figure BDA0002296964310000026
respectively scanning the ith self-propelled ship model by another set of scanner to obtain a stern azimuth angle and a bow azimuth angle; subscript of the azimuth angle is the number of the target;
s2, after the test is started, scanning the bow targets and the stern targets of the n self-propelled ship models to obtain left azimuth angle sequences G of the n self-propelled ship model targets1：(α1,α2,…,α2i-1,α2i,…,α2n-1,α2n) And right azimuth sequence H1：(β1,β2,…,β2i-1,β2i,…,β2n-1,β2n)；
S3, calculating the leftSequence of azimuth angles G1And the initial left azimuth angle sequence G0Residual matrix of (Δ d)α(ii) a Calculating the right azimuth sequence H1And the initial right azimuth angle sequence H0Residual matrix of (Δ d)β；
S4, according to the residual error matrix delta dαFor left azimuth angle sequence G1Adjusting the sequence of the middle azimuth angles to make the left azimuth angle match the target to which the left azimuth angle belongs to obtain a new left azimuth angle sequence
Figure BDA0002296964310000027
From the residual matrix Δ dβTo right azimuth sequence H1The sequence of the middle azimuth angle and the right azimuth angle is adjusted, so that the right azimuth angle is matched with the target to which the right azimuth angle belongs, and a new right azimuth angle sequence is obtained
Figure BDA0002296964310000028
S5, according to the new left azimuth sequence
Figure BDA0002296964310000029
And right azimuth angle sequence
Figure BDA00022969643100000210
Calculate bow target coordinate sequence of n self-propelled ship models
Figure BDA00022969643100000211
Coordinate sequence of stern target
Figure BDA00022969643100000212
S6, taking the new left azimuth sequence and the new right azimuth sequence scanned each time as the initial left azimuth sequence and the initial right azimuth sequence scanned next time, analogizing according to the steps S2-S5 until the test is finished, and finally obtaining a bow target coordinate sequence set C of n self-propelled ship modelsHAnd stern target coordinate sequence set CT；
S7, according to the bow target coordinate sequence set C of the n self-propelled ship modelsHAnd stern target coordinate sequence set CTAnd calculating the running tracks of the n self-propelled ship models.
Further, in step S2, when the self-propelled ship model target is occluded, the scanned left azimuth sequence G (α)1,α2,…,αk,…,αp) Or right azimuth sequence H (β)1,β2,…,βl,…,βq) If the number of the middle azimuth angles is reduced, the left azimuth angle sequence or the right azimuth angle sequence needs to be completed; wherein k and p are left azimuth subscripts, values are positive integers, and k is<p，p<2 n; l and q are right azimuth subscripts, values are positive integers, and l<q，q<2n。
Further, the left azimuth sequence G is complemented according to the following steps:
s31, calculating a left azimuth sequence G and an initial left azimuth sequence G0Residual matrix of
Figure BDA0002296964310000031
Figure BDA0002296964310000032
S32, subjecting the residual error matrix to
Figure BDA0002296964310000033
The elements of the k-th line are arranged in the order from small to large, and the first two elements of the k-th line are taken out to be used as data pairs
Figure BDA0002296964310000034
Calculating data pair difference
Figure BDA0002296964310000035
Figure BDA0002296964310000036
Wherein u and v are residual error matrixes respectively
Figure BDA0002296964310000037
The u-th and v-th columns;
s33, analogizing according to the step S32 to obtain a residual error matrix
Figure BDA0002296964310000038
The data pair difference values of each row are combined into a data pair difference value sequence
Figure BDA0002296964310000039
S34, arranging the data pair difference values in the data pair difference value sequence from small to large, taking out the first 2n-p data pair difference values, searching left azimuth angles corresponding to the 2n-p data pair difference values respectively, and filling the left azimuth angles into the left azimuth angle sequence;
the right azimuth sequence H is completed according to the following steps:
s35, calculating a right azimuth sequence H and an initial right azimuth sequence H0Residual matrix of
Figure BDA00022969643100000310
Figure BDA00022969643100000311
S36. combining the residual error matrix
Figure BDA00022969643100000312
The elements in the l-th line are arranged from small to large, and the first two elements in the l-th line are taken out to be used as data pairs
Figure BDA00022969643100000313
Calculating data pair difference
Figure BDA00022969643100000314
Wherein d and w are residual error matrixes respectively
Figure BDA00022969643100000315
D-th and w-th columns;
s37, analogizing according to the step S36 to obtain a residual error matrix
Figure BDA00022969643100000316
The data pair difference values of each row are combined into a data pair difference value sequence
Figure BDA0002296964310000041
And S38, arranging the data pair difference values in the data pair difference value sequence from small to large, taking out the first 2n-q data pair difference values, searching right azimuth angles corresponding to the 2n-q data pair difference values respectively, and filling the right azimuth angles into the right azimuth angle sequence.
Further, in step S3, the residual matrix Δ d is determined according to the following formulaα：
Figure BDA0002296964310000042
Wherein the left azimuth angle sequence G1Is (α)1,α2,…,α2i-1,α2i,…,α2n-1,α2n) (ii) a Initial left azimuth sequence G0Is composed of
Figure BDA0002296964310000043
Determining the residual matrix Δ d according to the following formulaβ：
Figure BDA0002296964310000044
Wherein, the right azimuth sequence H1Is (β)1,β2,…,β2i-1,β2i,…,β2n-1,β2n) (ii) a Initial right azimuth sequence H0Is composed of
Figure BDA0002296964310000045
Further, in step S4, a new left azimuth sequence is obtained according to the following steps
Figure BDA0002296964310000046
a. Determining a residual matrix Δ dαMiddle and left azimuth α1Azimuth angle in the initial left azimuth sequence with the smallest difference
Figure BDA0002296964310000047
α will be mixed1The position of the s-th target in the left azimuth sequence is adjusted and recorded as
Figure BDA0002296964310000048
wherein ,
Figure BDA0002296964310000049
the left azimuth corresponding to the s-th target of the self-propelled ship model; subscript s is the number of the target to which the subscript s belongs; when s is an odd number, the ship head target is shown, and when s is an even number, the ship tail target is shown; superscript 1 is the 1 st measurement;
b. residual matrix Δ d is deletedαTo the 1 st row and the s-th column of the image data, determining a residual matrix Δ dαMiddle and left azimuth α2Azimuth angle in the initial left azimuth sequence with the smallest difference
Figure BDA00022969643100000410
α will be mixed2The position where the r-th target is positioned in the left azimuth sequence is recorded
Figure BDA00022969643100000411
Wherein r is 1,2, …,2 n;
Figure BDA00022969643100000412
the left azimuth corresponding to the r-th target of the self-propelled ship model; subscript r is the number of the target to which the subscript r belongs; when r is an odd number, the ship head target is shown, and when r is an even number, the ship tail target is shown; superscript 1 is the 1 st measurement;
c. according to the analogy of the step b, adjusting the left azimuth sequence G1The sequence of other azimuth angles is obtained to obtain a new left azimuth angle sequence
Figure BDA0002296964310000051
Figure BDA0002296964310000052
Obtaining a new right azimuth sequence according to the following steps
Figure BDA0002296964310000053
e. Determining a residual matrix Δ dβCenter and right azimuth β1Azimuth angle in initial right azimuth sequence with minimum difference
Figure BDA0002296964310000054
β will be mixed1The position of the s-th target in the right azimuth sequence is recorded
Figure BDA0002296964310000055
wherein ,
Figure BDA0002296964310000056
the right azimuth angle corresponding to the s-th target of the self-propelled ship model; subscript s is the number of the target to which the subscript s belongs; when s is an odd number, the ship tail target is shown, and when s is an even number, the ship head target is shown; superscript 1 is the 1 st measurement;
f. residual matrix Δ d is deletedβTo the 1 st row and the s-th column of the image data, determining a residual matrix Δ dβCenter and right azimuth β2Azimuth angle in initial right azimuth sequence with minimum difference
Figure BDA0002296964310000057
β will be mixed2The position where the r-th target is located in the right azimuth sequence is recorded
Figure BDA0002296964310000058
Wherein r is 1,2, …,2 n;
Figure BDA0002296964310000059
the right azimuth angle corresponding to the r-th target of the self-propelled ship model; subscript r is the number of the target to which the subscript r belongs; when r is an odd number, the stern target is shown, and when r is an even number, the bow target is shown; superscript 1 is the 1 st measurement;
g. according toF, analogizing, adjusting the right azimuth sequence H1The sequence of other azimuth angles is obtained to obtain a new right azimuth angle sequence
Figure BDA00022969643100000510
Figure BDA00022969643100000511
Further, for the new left azimuth sequence
Figure BDA00022969643100000512
And a new right azimuth sequence
Figure BDA00022969643100000513
The self-propelled ship model target that well azimuth belongs to carries out the verification, includes:
s41, calculating the bow coordinates of the ith self-propelled ship model
Figure BDA00022969643100000514
And stern coordinates
Figure BDA00022969643100000515
wherein ,
Figure BDA00022969643100000516
Figure BDA00022969643100000517
s42, calculating the distance between the bow target and the stern target of the ith self-propelled ship model
Figure BDA00022969643100000518
Figure BDA00022969643100000519
S43, judging
Figure BDA00022969643100000520
Whether or not it is greater than 3 sigmai(ii) a If yes, the azimuth corresponding to the ith self-propelled ship model target is wrong, and the sequence of azimuth angles in the azimuth angle sequence needs to be readjusted; otherwise, no operation is performed;
wherein ,LiFor the actual distance, sigma, between the i-th self-propelled ship model targetsiIs a discrete threshold of inter-target distance measurements.
Further, a dispersion threshold σ for the inter-target distance measurement is determined according to the following formulai：
Figure BDA0002296964310000061
wherein ,
Figure BDA0002296964310000062
the distance between targets scanned at the jth time is the distance between targets scanned when the self-propelled ship model i is static before the test is started; m is the number of times that the self-propelled ship model is scanned before the test is started; j ═ 1,2, …, M; l isiAnd the actual distance between the targets of the ith self-propelled ship model.
Further, in step S43, the order of the azimuth angles in the azimuth sequence of the ith self-propelled ship model is readjusted according to the following steps:
s431, corresponding left azimuth angles of the two targets of the ith self-propelled ship model
Figure BDA0002296964310000063
And
Figure BDA0002296964310000064
shift to left azimuth sequence G1According to analogy from step a-b, the left azimuth sequence G is repeated1Adjusting the order of the middle azimuth angles to obtain a left azimuth angle sequence
Figure BDA0002296964310000065
S432. according to the left azimuth sequence
Figure BDA0002296964310000066
And right azimuth angle sequence
Figure BDA0002296964310000067
Figure BDA0002296964310000068
Executing the steps S41-S42 to obtain a distance difference
Figure BDA0002296964310000069
S433, corresponding right azimuth angles of the two targets of the ith self-propelled ship model
Figure BDA00022969643100000610
And
Figure BDA00022969643100000611
shift to right azimuth sequence H1And finally, analogizing according to the steps e-f, and aligning the right azimuth sequence H again1Adjusting the order of the middle azimuth angles to obtain a right azimuth angle sequence
Figure BDA00022969643100000612
S434, according to the right azimuth sequence
Figure BDA00022969643100000613
And left azimuth angle sequence
Figure BDA00022969643100000614
Figure BDA00022969643100000615
Executing the steps S41-S42 to obtain a distance difference
Figure BDA00022969643100000616
S435. according to the left azimuth sequence
Figure BDA00022969643100000617
And right azimuth angle sequence
Figure BDA00022969643100000618
Executing the steps S41-S42 to obtain a distance difference
Figure BDA00022969643100000619
S436, calculating a distance difference value A, B and a minimum value min in C;
s437, judging whether the minimum value min is larger than 3 sigmai(ii) a If yes, continue to execute steps S431-S436 until min ≦ 3 σiWhen the execution times exceed 10 times, discarding the scanned left and right azimuth sequence; otherwise, taking the azimuth angle adjustment result corresponding to the minimum value min as a final azimuth angle correction result.
The invention has the beneficial effects that: the invention discloses a multi-target self-propelled ship model track tracking and measuring method, which comprises the steps of obtaining an azimuth angle sequence of a self-propelled ship model target through scanning, adjusting and matching an azimuth angle to which the self-propelled ship model target belongs, enabling the measured azimuth angle to correspond to the corresponding self-propelled ship model target, checking a matching result of the azimuth angle, matching the target to which the azimuth angle belongs again when the matching result has errors, and ensuring the accuracy of the matching result, thereby realizing the simultaneous tracking and measuring of a plurality of self-propelled ship model tracks under the advantages of high precision and high frequency response.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a schematic diagram of the measurement of the laser self-propelled ship model track instrument of the invention;
FIG. 3 is a schematic diagram of the initial conditions of the multi-target self-propelled ship model of the present invention;
FIG. 4 is a schematic diagram of multi-target self-propelled ship model azimuth occlusion according to the present invention;
FIG. 5 is a schematic diagram of multi-target self-propelled ship model azimuth interference according to the present invention.
Detailed Description
The invention is further described with reference to the accompanying drawings, in which:
the invention discloses a multi-target self-propelled ship model track tracking and measuring method, which comprises the following steps:
s1, before the test starts, sequentially arranging n self-propelled ship models to enable the bow directions of the n self-propelled ship models to be consistent, respectively arranging a bow target and a stern target for the n self-propelled ship models, and simultaneously scanning the bow targets and the stern targets of the n self-propelled ship models by using two sets of scanners to obtain an initial left azimuth sequence G of the n self-propelled ship model targets0：
Figure BDA0002296964310000071
And the initial right azimuth angle sequence H0：
Figure BDA0002296964310000072
Wherein N is 1,2,3, …, N; 1,2, …, n; i is the self-propelled ship model number;
Figure BDA0002296964310000073
and
Figure BDA0002296964310000074
respectively scanning the ith self-propelled ship model by one set of scanner to obtain a bow azimuth angle and a stern azimuth angle;
Figure BDA0002296964310000075
and
Figure BDA0002296964310000076
respectively scanning the ith self-propelled ship model by another set of scanner to obtain a stern azimuth angle and a bow azimuth angle; subscript of the azimuth angle is the number of the target;
s2, after the test is started, scanning the bow targets and the stern targets of the n self-propelled ship models to obtain left azimuth angle sequences G of the n self-propelled ship model targets1：(α1,α2,…,α2i-1,α2i,…,α2n-1,α2n) And right azimuth sequence H1：(β1,β2,…,β2i-1,β2i,…,β2n-1,β2n)；
S3, calculating a left azimuth angle sequence G1And the initial left azimuth angle sequence G0Residual matrix of (Δ d)α(ii) a Calculating the right azimuth sequence H1And the initial right azimuth angle sequence H0Residual matrix of (Δ d)β；
S4, according to the residual error matrix delta dαFor left azimuth angle sequence G1Adjusting the sequence of the middle azimuth angles to make the left azimuth angle match the target to which the left azimuth angle belongs to obtain a new left azimuth angle sequence
Figure BDA0002296964310000081
From the residual matrix Δ dβTo right azimuth sequence H1The sequence of the middle azimuth angle and the right azimuth angle is adjusted, so that the right azimuth angle is matched with the target to which the right azimuth angle belongs, and a new right azimuth angle sequence is obtained
Figure BDA0002296964310000082
S5, according to the new left azimuth sequence
Figure BDA0002296964310000083
And right azimuth angle sequence
Figure BDA0002296964310000084
Calculate bow target coordinate sequence of n self-propelled ship models
Figure BDA0002296964310000085
Coordinate sequence of stern target
Figure BDA0002296964310000086
S6, taking the new left azimuth sequence and the new right azimuth sequence scanned each time as the initial left azimuth sequence and the initial right azimuth sequence scanned next time, analogizing according to the steps S2-S5 until the test is finished, and finally obtaining a bow target coordinate sequence set C of n self-propelled ship modelsHAnd stern target coordinate sequence set CT；
S7, according to the bow target coordinate sequence set C of the n self-propelled ship modelsHAnd stern target coordinate sequence set CTAnd calculating the running tracks of the n self-propelled ship models.
The principle of measurement of a laser self-propelled ship model track plotter is shown in fig. 2, two reflection rods A and B are arranged at the head and the tail of a self-propelled ship model, LSR1 and LSR2 are two sets of laser scanning angle measuring systems and are used for detecting azimuth angle information of a position where A, B is located, the distance between LSR1 and LSR2 is L, the distance is kept unchanged in the measuring process, an orthogonal coordinate system is established by taking LSR1 as an origin and taking a connecting line of LSR1 and LSR2 as an x axis, the LSR1 scans anticlockwise, and left azimuth angles of A, B are respectively α1、α2LSR2 scanning clockwise results in A, B right azimuth β respectively2、β1。
According to the azimuth angle of the measuring point and the sine theorem of the triangle, A, B two-dimensional coordinates can be obtained:
the coordinate of A is (x)1,y1), wherein ,
Figure BDA0002296964310000087
the coordinate of B is (x)2,y2), wherein ,
Figure BDA0002296964310000088
the motion trail of the ship model can be obtained according to the formulas (1) and (2).
The self-propelled ship model is a ship model which is artificially remotely controlled to move, and the movement of the ship model is controlled through remote control.
In this embodiment, in step S1, n self-propelled ship models are provided, and each self-propelled ship model has 2 targets, which are 2n targets in total. Before entering a test river reach (namely before the test starts, all self-propelled ship models are kept static), adjusting the positions among the self-propelled ship models, sequentially arranging n self-propelled ship models, enabling the ship bow to face the test river reach, and scanning each self-propelled ship model by a laser scanning angle measuring system LSR1 to obtain a group of left azimuth angles:
Figure BDA0002296964310000091
i is the self-navigation ship model number, n groups are provided in total, n is a positive integer, and the n groups are combined to obtain a left azimuth angle sequence
Figure BDA0002296964310000092
Adjusting the relative positions of the respective ship models to meet the following requirements:
Figure BDA0002296964310000093
the azimuth angles of the respective ship models satisfying the formula (3) are staggered, the ship model nearest to the test river section is numbered as No. 1, and the other ship models are numbered as No. 2, … and n. Then there are:
the azimuth angles of the two targets of the bow and the stern of the No. 1 self-propelled ship model are respectively as follows:
Figure BDA0002296964310000094
the azimuth angles of the two targets at the bow and the stern of the No. i self-propelled ship model are respectively as follows:
Figure BDA0002296964310000095
the azimuth angles of the two targets at the bow and the stern of the n-number self-propelled ship model are respectively as follows:
Figure BDA0002296964310000096
similarly, the LSR2 scans to obtain a group of right azimuth sequences:
Figure BDA0002296964310000097
then there are:
the azimuth angles of the two targets of the bow and the stern of the No. 1 self-propelled ship model are respectively as follows:
Figure BDA0002296964310000098
the azimuth angles of the two targets at the bow and the stern of the No. i self-propelled ship model are respectively as follows:
Figure BDA0002296964310000099
the n number self-propelled ship model bow and the normal tail two target azimuth angles are respectively:
Figure BDA00022969643100000910
in azimuth sequence
Figure BDA00022969643100000911
Figure BDA00022969643100000912
And the determined multi-target self-propelled ship model position is used as an initial condition of the self-propelled ship model test.
In this embodiment, in the step S2, in the azimuth data sequence obtained by the laser angle measurement scanning system, in a few cases, some targets may be blocked by other targets during the movement of the multiple self-propelled ship models, so that the azimuth sequences output by the laser angle measurement scanning system are different in length. As shown in fig. 4, when the three points of the self-propelled ship model 1 target, the self-propelled ship model 2 target and the laser exit point are collinear, the target of the self-propelled ship model 2 is shielded, the left azimuth data sequence is reduced by 1, the length of the output data sequence of the LSR1 is 2n-1, data is missing, and missing data needs to be filled. Since the stern left azimuth angles of the self-propelled ship model 1 and the self-propelled ship model 2 are equal, the same azimuth angle data can be filled in the data sequence to complete the data. The principle of missing data padding is to find the azimuth angle when the alignment is collinear and expand the original azimuth sequence.
Specifically, the filling method is as follows:
azimuthal sequence measured by LSR1 (α)1,α2,…,αk,…,αp) If there is no occlusion, there should be 2n data, indicating that there are 2n-p targets occluded. Calculating a residual matrix of a currently measured azimuth and an azimuth under initial conditions
Figure BDA0002296964310000101
Figure BDA0002296964310000102
Wherein the azimuth sequence
Figure BDA0002296964310000103
For convenient representation, general terms can be adopted
Figure BDA0002296964310000104
In another form, another representation of the azimuthal sequence is obtained as
Figure BDA0002296964310000105
The following description of the left bit angle sequence and the right bit angle sequence including the general terms is the same as this processing method, and is not repeated.
2. In the residual matrix
Figure BDA0002296964310000106
The first two minimum values are taken in each row, and for the kth row, the first two minimum values form a data pair:
Figure BDA0002296964310000107
k denotes the number of rows and u and v denote the number of columns. Calculating the data pair difference to obtain:
Figure BDA0002296964310000108
in the same way, a residual matrix can be obtained
Figure BDA0002296964310000109
The other rows of data pair difference values.
3. Data pairs were grouped into a sequence of differences:
Figure BDA00022969643100001010
arranging the elements of the sequence (9) in the order from small to large, taking the data pairs corresponding to the first 2n-p minimum values in the sequence, if no 2n-p data exist, taking all the data in the sequence (9), and setting one data pair as
Figure BDA00022969643100001011
It is located on line k of equation (8), statement αkAnd
Figure BDA00022969643100001012
Figure BDA00022969643100001013
approaching to cause a shielding phenomenon during the motion of the self-propelled ship model to αkFill missing data set αkIs added to the sequence (α)1,α2,…,αk,…,αp) And (4) ending. Specifically, a plurality of minimum values taken out from the sequence (9) can be sorted according to a sequence from small to large, 2n-p data are found out according to the sorting sequence for sequential filling, and when the number of the 2n-p data is not enough, the last data found out can be filled for many times, so that the azimuth sequence is complete, and the following conversion is realized:
(α1,α2,…,αk,…,αp)→(α1,α2,…,αj,…,α2n) (10)
if LSR2 measured azimuth sequence (β)1,β2,…,βl,…,βq)，q<2n, the data is also lost, and similarly, according to the above steps 1-3, the right azimuth sequence is padded, and the following conversion is realized:
(β1,β2,…,βl,…,βq)→(β1,β2,…,βj,…,β2n) (11)
the final left azimuthal sequence is (α)1,α2,…,α2i-1,α2i,…,α2n-1,α2n) And the right azimuth angle sequence is (β)1,β2,…,β2i-1,β2i,…,β2n-1,β2n) Wherein i is 1,2, …, n.
In this embodiment, in step S3, in the initial state,
Figure BDA0002296964310000111
is the left azimuth angle between the bow and the stern of the ith self-propelled ship model,
Figure BDA0002296964310000112
the ship speed, the movement direction, the movement track and the like of each self-propelled ship model have no correlation, so α in the left azimuth sequence measured after the self-propelled ship model moves2i-1、α2iNot necessarily β in the sequence of left and right azimuths for the ith ship2j、β2j-1Nor is it necessarily the right azimuth of the ith ship. The measured azimuth angles need to be redistributed to the respective targets.
In the process of self-propelled ship model movement, the azimuth angle of the self-propelled ship model is continuously changed, the scanning frequency of the laser scanning angle measuring system is 50Hz, the self-propelled ship model movement speed is relatively slow, and the change of the azimuth angle of two adjacent measurements of the same target is considered to be extremely small. Based on the thought, the targets to which the azimuth angle measured at present belongs are distinguished by calculating a residual error matrix of the azimuth angles measured at two adjacent times.
Residual matrix delta d of the currently measured left angle and the initial condition left angleα：
Figure BDA0002296964310000113
Wherein the jth row represents the measured left angle αjAnd the absolute value of the difference between the target left angle and the initial value under the initial condition.
In the present embodiment, in step S4, the left azimuth angle α is determined according to the following stepsj(j ═ 1,2, …,2n) for the assigned target:
a. for residual error matrix deltadαIf α1To the s (s-1, 2, …,2n) th azimuth angle under the initial condition
Figure BDA0002296964310000121
When the difference is minimum, α will be obtained1The current measurement as the s-th target is recorded as:
Figure BDA0002296964310000122
wherein ,
Figure BDA0002296964310000123
the subscript s represents the number of the target at which the target belongs, s is an odd number and represents the bow, an even number and represents the stern, and the superscript 1 represents the 1 st measurement.
b. Residual matrix Δ d is deletedαFor the 1 st row and the s th column of (1), the residual matrix Δ dαIf α2To the r (r ═ 1,2, …,2n) th azimuth angle under the initial condition
Figure BDA0002296964310000124
If the difference is minimal, α will be2The current measurement as the r-th target is recorded as:
Figure BDA0002296964310000125
wherein ,
Figure BDA0002296964310000126
the subscript r indicates the number of the target corresponding to the azimuth angle of the ith target, r is an odd number and indicates the bow, an even number and indicates the stern, and the superscript 1 indicates the 1 st measurement.
c. Determining the left azimuth sequence by analogy with step b (α)1,α2,…αj,…,α2n) And the numbers of the targets belonging to the azimuth angles are converted as follows:
Figure BDA0002296964310000127
left angle sequence of raw measurements (α)1,α2,…,αj,…,α2n) Cannot distinguish each measured valueBelonging target, left azimuth sequence after transformation
Figure BDA0002296964310000128
The corresponding relation with the target of the self-propelled ship model is as follows:
the azimuth angles of the two targets of the bow and the stern of the No. 1 self-propelled ship model are respectively as follows:
Figure BDA0002296964310000129
the azimuth angles of the two targets at the bow and the stern of the No. i self-propelled ship model are respectively as follows:
Figure BDA00022969643100001210
the azimuth angles of the two targets at the bow and the stern of the n-number self-propelled ship model are respectively as follows:
Figure BDA00022969643100001211
similarly, according to step S3, a residual matrix Δ d of the right azimuth angle currently measured and the right azimuth angle under the initial condition is calculatedβ：
Figure BDA00022969643100001212
According to step S4, in particular by analogy with the above steps a to c, the currently measured right azimuth sequence is transformed:
Figure BDA0002296964310000131
transformed right azimuth sequence
Figure BDA0002296964310000132
The targets are arranged according to the sequence, and the corresponding relation between the targets and the self-propelled ship model is as follows:
the azimuth angles of the two targets of the bow and the stern of the No. 1 self-propelled ship model are respectively as follows:
Figure BDA0002296964310000133
the azimuth angles of the two targets at the bow and the stern of the No. i self-propelled ship model are respectively as follows:
Figure BDA0002296964310000134
the n number self-propelled ship model bow and the normal tail two target azimuth angles are respectively:
Figure BDA0002296964310000135
after the left azimuth and the right azimuth are converted, the motion trail of each target of each self-propelled ship model can be calculated according to the formula (1) and the formula (2) under an ideal condition, but the misjudgment of the azimuth is easily generated due to the mutual cross interference of the motion trails of multiple ships. For example, as shown in fig. 5, the azimuth angle change value of the self-propelled ship model 1 is θ in an ideal case1The variation value of the azimuth angle of the self-propelled ship model 2 is theta2. Because the azimuth angles of the two self-propelled ship models are relatively close, the azimuth angle change value of the self-propelled ship model 1 can be wrongly judged as theta by using the azimuth angle matching algorithm3Misjudging the azimuth angle change value of the self-propelled ship model 2 as theta4Thereby generating errors and influencing the tracking precision of the self-propelled ship model.
And (3) checking and correcting the transformation result:
1) target matching misjudgment test
The distance between the two targets on the self-propelled ship model is a fixed value, and the target matching result is checked based on the characteristics. Obtaining the head coordinate of the ith self-propelled ship model as
Figure BDA0002296964310000136
The stern coordinate is
Figure BDA0002296964310000137
wherein ,
Figure BDA0002296964310000138
Figure BDA0002296964310000139
the distance between the bow target and the stern target of the ith self-propelled ship model
Figure BDA00022969643100001310
Figure BDA00022969643100001311
Target matching misjudgment test standard: if it is
Figure BDA00022969643100001312
The azimuth angle matching of the ith self-propelled ship model target is wrong, and the matching needs to be carried out again; otherwise no re-matching is required. Wherein L isiFor the actual distance, sigma, between the i-th self-propelled ship model targetsiRepresenting the discreteness of the inter-target distance measurements;
2) azimuth correction method
Let the target azimuth matching of the ith self-propelled ship model be wrong, but not determine which azimuth matching is wrong. The azimuth angle is corrected according to the following manner:
① left azimuth angle re-matching
According to the azimuth angle matching algorithm, the measured value of the left azimuth angle of the ith self-propelled ship model two targets
Figure BDA0002296964310000141
And
Figure BDA0002296964310000142
corresponding sequence (α)1,α2,…,αj,…,α2n) α ine、αgAzimuth angle αeResidual error term of
Figure BDA0002296964310000143
Figure BDA0002296964310000144
Located in the residual matrix deltadαLine e in (equation (12)), azimuth αgResidual error term of
Figure BDA0002296964310000145
Located in the residual matrix deltadαLine g in (1). Moving the e and g rows to the residual matrix Δ dαRecalculating left azimuth angle measurement values of the two targets of the ith self-propelled ship model according to an azimuth angle matching algorithm in the last two lines (not in sequence)
Figure BDA0002296964310000146
And
Figure BDA0002296964310000147
and generates a new matching sequence
Figure BDA0002296964310000148
② right azimuth angle weight matching
According to the azimuth matching algorithm, the measured value of the right azimuth of the two targets of the ith self-propelled ship model
Figure BDA0002296964310000149
And
Figure BDA00022969643100001410
corresponding sequence (β)1,β2,…,βj,…,β2n) β inf、βhAzimuth angle βfResidual error term of
Figure BDA00022969643100001411
Figure BDA00022969643100001412
Located in the residual matrix deltadβLine f in (equation (16)), azimuth βhResidual error term of
Figure BDA00022969643100001413
Located in the residual matrix deltadβRow h of (1). Moving the f-th row and h-th row to the residual matrix Δ dβRecalculating right azimuth angle measurement values of the two targets of the ith self-propelled ship model according to an azimuth angle matching algorithm in the last two rows (not in sequence)
Figure BDA00022969643100001414
And
Figure BDA00022969643100001415
and generates a new matching sequence
Figure BDA00022969643100001416
③ simultaneous re-matching of left and right azimuth angles
The left and right azimuths are simultaneously re-matched according to ① and ② above.
According to the equation (20), the inter-target distances in the above three cases (①, ②, and ③) are calculated, and the distance in each case is calculated
Figure BDA00022969643100001417
The value is obtained. In the case of the three cases, the number of the cases,
Figure BDA00022969643100001418
and taking the matching result corresponding to the minimum value as a final azimuth angle correction result. In the case of the three cases, the number of the cases,
Figure BDA00022969643100001419
Figure BDA00022969643100001420
continuing the re-matching process under the three conditions, after iterating (re-matching) for n times (generally setting as 10 times), if the target matching misjudgment test standard still can not be met, terminating iteration, and discarding the azimuth data measured this time; if the target matching misjudgment test standard is met, finding out the target matching misjudgment test standard under three conditions
Figure BDA0002296964310000151
Figure BDA0002296964310000152
And get
Figure BDA0002296964310000153
And taking the corresponding matching result as a final azimuth angle correction result.
In this embodiment, in step S5, the corrected left azimuth sequence is based on the verification
Figure BDA0002296964310000154
And right azimuth angle sequence
Figure BDA0002296964310000155
According to the formula (1) and the formula (2), calculating the bow target coordinates and the stern target coordinates of the n self-propelled ship models in the first scanning after the test is started, wherein the ith self-propelled ship model bow coordinates are
Figure BDA0002296964310000156
The stern coordinate is
Figure BDA0002296964310000157
According to the serial number sequence of the self-propelled ship model, the ship head coordinates corresponding to the self-propelled ship model are sequentially put into a coordinate sequence
Figure BDA0002296964310000158
In the method, a bow target coordinate sequence of n self-propelled ship models is obtained
Figure BDA0002296964310000159
Figure BDA00022969643100001510
Similarly, obtaining the stern target coordinate sequence of n self-propelled ship models
Figure BDA00022969643100001511
Figure BDA00022969643100001512
In this embodiment, in step S6,
1) to check the corrected left azimuth angle sequence
Figure BDA00022969643100001513
And right azimuth angle sequence
Figure BDA00022969643100001514
And the determined multi-target self-propelled ship model position is used as a new initial condition for the self-propelled ship model test.
2) Starting the 2 nd scanning by using the LSR1 and the LSR2, filling missing data again, executing an azimuth matching algorithm, checking and correcting the azimuth to obtain a 2 nd left azimuth matching sequence
Figure BDA00022969643100001515
Sequence matching right azimuth
Figure BDA00022969643100001516
And taking the multi-target self-propelled ship model positions determined by the left azimuth matching sequence and the right azimuth matching sequence as initial conditions of the 3 rd scanning data. And by analogy, the self-propelled ship model is scanned for multiple times.
3) During the scanning process of the LSR1 and the LSR2, the matching sequence of each azimuth angle is calculated in turn until the test is finished. Wherein, the w-th left angle matching sequence is
Figure BDA00022969643100001517
The right azimuth matching sequence is
Figure BDA00022969643100001518
4) According to the formula (1) and the formula (2), calculating the coordinates of the bow target and the stern target of each self-propelled ship model in the self-propelled ship model test process to obtain the coordinate sequence of the bow target and the stern target of n self-propelled ship models scanned at each time, wherein the coordinate sequence of the bow target and the stern target of the self-propelled ship model obtained by the w-th scanning are respectively the coordinate sequence of the bow target and the stern target of the self-propelled ship model obtained by the w-th scanning
Figure BDA0002296964310000161
Finally obtaining a bow target coordinate sequence set C of n self-propelled ship modelsH：
Figure BDA0002296964310000162
And stern target coordinate sequence set CT：
Figure BDA0002296964310000163
In this embodiment, in step S7, the bow target coordinate sequence set C of n self-propelled ship models is taken outHShip bow target coordinate sequence obtained by middle and first scanning
Figure BDA0002296964310000164
Coordinate sequence of stern target
Figure BDA0002296964310000165
Re-slave sequence
Figure BDA0002296964310000166
Take out bow target coordinate of serial number 1's self-propelled ship model
Figure BDA0002296964310000167
Slave sequence
Figure BDA0002296964310000168
Take out number 1's self-propelled ship model's stern target coordinate
Figure BDA0002296964310000169
The coordinate obtained by 1 st scanning of the self-propelled ship model with the number of 1 is calculated as
Figure BDA00022969643100001610
wherein ,
Figure BDA00022969643100001611
similarly, the coordinates obtained by scanning the self-propelled ship model with the number of 1 in the w-th time are calculated to be
Figure BDA00022969643100001612
wherein ,
Figure BDA00022969643100001613
the w-th scanned bow target coordinate of the self-propelled ship model with the number of 1 is
Figure BDA00022969643100001614
The stern target coordinate is
Figure BDA00022969643100001615
The coordinate sequence of the self-propelled ship model numbered 1 is obtained as (C1)1,C12,…,C1w…); analogizing according to the method for obtaining the coordinate sequence of the self-propelled ship model with the number of 1 to obtain the coordinate sequences of all the self-propelled ship models in the whole test process; wherein the coordinate sequence of the self-propelled ship model with the number i is (Ci)1,Ci2,…,Ciw,…)；
Coordinate sequence (Ci) of self-propelled ship model with number i1,Ci2,…,Ciw…) sequentially taking out the self-propelled ship model from left to right, displaying the self-propelled ship model on the established rectangular coordinate system, and sequentially connecting coordinate points according to the sequence of taking out to obtain the running track of the self-propelled ship model with the number i; and similarly, generating the running tracks of other self-propelled ship models according to the mode. Meanwhile, the data of the self-propelled ship model such as the speed, the drift angle and the like can be obtained according to the track of the self-propelled ship model and the test operation time. Therefore, the tracking measurement of the motion trail of the multi-target self-propelled ship model is realized.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims (8)

1. A multi-target self-propelled ship model track tracking measurement method is characterized by comprising the following steps: the method comprises the following steps:
s1, before the test starts, sequentially arranging n self-propelled ship models to enable the bow directions of the n self-propelled ship models to be consistent, respectively arranging a bow target and a stern target for the n self-propelled ship models, and simultaneously scanning the bow targets and the stern targets of the n self-propelled ship models by using two sets of scanners to obtain an initial left azimuth sequence G of the n self-propelled ship model targets0：
Figure FDA0002296964300000011
And the initial right azimuth angle sequence H0：
Figure FDA0002296964300000012
Wherein N is 1,2,3, …, N; 1,2, …, n; i is the self-propelled ship model number;
Figure FDA0002296964300000013
and
Figure FDA0002296964300000014
respectively scanning the ith self-propelled ship model by one set of scanner to obtain a bow azimuth angle and a stern azimuth angle;
Figure FDA0002296964300000015
and
Figure FDA0002296964300000016
respectively scanning the ith self-propelled ship model by another set of scanner to obtain a stern azimuth angle and a bow azimuth angle; subscript of the azimuth angle is the number of the target;
s2, after the test is started, scanning the bow targets and the stern targets of the n self-propelled ship models to obtain left azimuth angle sequences G of the n self-propelled ship model targets1：(α1,α2,…,α2i-1,α2i,…,α2n-1,α2n) And right azimuth sequence H1：(β1,β2,…,β2i-1,β2i,…,β2n-1,β2n)；
S3, calculating a left azimuth angle sequence G1And the initial left azimuth angle sequence G0Residual matrix of (Δ d)α(ii) a Calculating the right azimuth sequence H1And the initial right azimuth angle sequence H0Residual matrix of (Δ d)β；
S4, according to the residual error matrix delta dαFor left azimuth angle sequence G1Adjusting the sequence of the middle azimuth angles to make the left azimuth angle match the target to which the left azimuth angle belongs to obtain a new left azimuth angle sequence
Figure FDA00022969643000000111
From the residual matrix Δ dβTo right azimuth sequence H1The sequence of the middle azimuth angle and the right azimuth angle is adjusted, so that the right azimuth angle is matched with the target to which the right azimuth angle belongs, and a new right azimuth angle sequence is obtained
Figure FDA0002296964300000017
S5, according to the new left azimuth sequence
Figure FDA0002296964300000018
And right azimuth angle sequence
Figure FDA00022969643000000112
Calculate bow target coordinate sequence of n self-propelled ship models
Figure FDA0002296964300000019
Coordinate sequence of stern target
Figure FDA00022969643000000110
S6, taking the new left azimuth sequence and the new right azimuth sequence scanned each time as the initial left azimuth sequence and the initial right azimuth sequence scanned next time, analogizing according to the steps S2-S5 until the test is finished, and finally obtaining a bow target coordinate sequence set C of n self-propelled ship modelsHAnd stern target coordinate sequence set CT；
S7, according to the bow target coordinate sequence set C of the n self-propelled ship modelsHAnd stern target coordinate sequence set CTAnd calculating the running tracks of the n self-propelled ship models.
2. The multi-target self-propelled ship model trajectory tracking and measuring method of claim 1, wherein in step S2, when the self-propelled ship model target is blocked, the scanned left azimuth sequence G is (α)1,α2,…,αk,…,αp) Or right azimuth sequence H (β)1,β2,…,βl,…,βq) If the number of the middle azimuth angles is reduced, the left azimuth angle sequence or the right azimuth angle sequence needs to be completed; wherein k and p are left azimuth subscripts, values are positive integers, and k is<p，p<2 n; l and q are right azimuth subscripts, values are positive integers, and l<q，q<2n。
3. The multi-target self-propelled ship model trajectory tracking measurement method according to claim 2, characterized in that: completing the left azimuth angle sequence G according to the following steps:
s31, calculating a left azimuth sequence G and an initial left azimuth sequence G0Residual matrix of
Figure FDA0002296964300000022
Figure FDA0002296964300000021
S32, subjecting the residual error matrix to
Figure FDA0002296964300000029
The elements of the k-th line are arranged in the order from small to large, and the first two elements of the k-th line are taken out to be used as data pairs
Figure FDA0002296964300000024
Calculating data pair difference
Figure FDA0002296964300000023
Figure FDA0002296964300000028
Wherein u and v are residual error matrixes respectively
Figure FDA0002296964300000025
The u-th and v-th columns;
s33, analogizing according to the step S32 to obtain a residual error matrix
Figure FDA0002296964300000026
The data pair difference values of each row are combined into a data pair difference value sequence
Figure FDA0002296964300000027
S34, arranging the data pair difference values in the data pair difference value sequence from small to large, taking out the first 2n-p data pair difference values, searching left azimuth angles corresponding to the 2n-p data pair difference values respectively, and filling the left azimuth angles into the left azimuth angle sequence;
the right azimuth sequence H is completed according to the following steps:
s35, calculating a right azimuth sequence H and an initial right azimuth sequence H0Residual matrix of
Figure FDA00022969643000000210
Figure FDA0002296964300000031
S36. combining the residual error matrix
Figure FDA0002296964300000034
The elements in the l-th line are arranged from small to large, and the first two elements in the l-th line are taken out to be used as data pairs
Figure FDA0002296964300000035
Calculating data pair difference
Figure FDA0002296964300000036
Wherein d and w are residual error matrixes respectively
Figure FDA0002296964300000037
D-th and w-th columns;
s37, analogizing according to the step S36 to obtain a residual error matrix
Figure FDA0002296964300000038
The data pair difference values of each row are combined into a data pair difference value sequence
Figure FDA0002296964300000039
And S38, arranging the data pair difference values in the data pair difference value sequence from small to large, taking out the first 2n-q data pair difference values, searching right azimuth angles corresponding to the 2n-q data pair difference values respectively, and filling the right azimuth angles into the right azimuth angle sequence.
4. The multi-target self-propelled ship model trajectory tracking measurement method according to claim 1, characterized in that: in step S3, a residual matrix Δ d is determined according to the following formulaα：
Figure FDA0002296964300000032
Wherein the left azimuth angle sequence G1Is (α)1,α2,…,α2i-1,α2i,…,α2n-1,α2n) (ii) a Initial left azimuth sequence G0Is composed of
Figure FDA00022969643000000310
Determining the residual matrix Δ d according to the following formulaβ：
Figure FDA0002296964300000033
Wherein, the right azimuth sequence H1Is (β)1,β2,…,β2i-1,β2i,…,β2n-1,β2n) (ii) a Initial right azimuth sequence H0Is composed of
Figure FDA00022969643000000311
5. The multi-target self-propelled ship model trajectory tracking measurement method according to claim 1, characterized in that: in step S4, a new left azimuth sequence is obtained according to the following steps
Figure FDA0002296964300000041
a. Determining a residual matrix Δ dαMiddle and left azimuth α1Azimuth angle in the initial left azimuth sequence with the smallest difference
Figure FDA0002296964300000044
α will be mixed1The position of the s-th target in the left azimuth sequence is adjusted and recorded as
Figure FDA0002296964300000042
wherein ,
Figure FDA0002296964300000043
the left azimuth corresponding to the s-th target of the self-propelled ship model; subscript s is the number of the target to which the subscript s belongs; when s is an odd number, the ship head target is shown, and when s is an even number, the ship tail target is shown; superscript 1 is the 1 st measurement;
b. residual matrix Δ d is deletedαTo the 1 st row and the s-th column of the image data, determining a residual matrix Δ dαMiddle and left azimuth α2Azimuth angle in the initial left azimuth sequence with the smallest difference
Figure FDA0002296964300000046
α will be mixed2The position where the r-th target is positioned in the left azimuth sequence is recorded
Figure FDA0002296964300000045
Wherein r is 1,2, …,2 n;
Figure FDA00022969643000000412
the left azimuth corresponding to the r-th target of the self-propelled ship model; subscript r is the number of the target to which the subscript r belongs; when r is an odd number, the ship head target is shown, and when r is an even number, the ship tail target is shown; superscript 1 is the 1 st measurement;
c. according to the analogy of the step b, adjusting the left azimuth sequence G1The sequence of other azimuth angles is obtained to obtain a new left azimuth angle sequence
Figure FDA0002296964300000047
Obtaining a new right azimuth sequence according to the following steps
Figure FDA00022969643000000413
e. Determining a residual matrix Δ dβCenter and right azimuth β1Azimuth angle in initial right azimuth sequence with minimum difference
Figure FDA0002296964300000048
β will be mixed1The position of the s-th target in the right azimuth sequence is recorded
Figure FDA00022969643000000414
wherein ,
Figure FDA0002296964300000049
the right azimuth angle corresponding to the s-th target of the self-propelled ship model; subscript s is the number of the target to which the subscript s belongs; when s is an odd number, the ship tail target is shown, and when s is an even number, the ship head target is shown; superscript 1 is the 1 st measurement;
f. residual matrix Δ d is deletedβTo the 1 st row and the s-th column of the image data, determining a residual matrix Δ dβCenter and right azimuth β2Azimuth angle in initial right azimuth sequence with minimum difference
Figure FDA00022969643000000411
β will be mixed2The position where the r-th target is located in the right azimuth sequence is recorded
Figure FDA00022969643000000410
Wherein r is 1,2, …,2 n;
Figure FDA00022969643000000415
the right azimuth angle corresponding to the r-th target of the self-propelled ship model; subscript r is the number of the target to which the subscript r belongs; when r is an odd number, the stern target is shown, and when r is an even number, the bow target is shown; superscript 1 is the 1 st measurement;
g. f, adjusting the right azimuth sequence H by analogy1The sequence of other azimuth angles is obtained to obtain a new right azimuth angle sequence
Figure FDA00022969643000000416
6. The multi-target self-propelled ship model trajectory tracking measurement method according to claim 5, characterized in that: for new left azimuth angle sequence
Figure FDA00022969643000000417
And a new right azimuth sequence
Figure FDA00022969643000000418
The self-propelled ship model target that well azimuth belongs to carries out the verification, includes:
s41, calculating the bow coordinates of the ith self-propelled ship model
Figure FDA0002296964300000055
And stern coordinates
Figure FDA0002296964300000056
wherein ,
Figure FDA0002296964300000051
Figure FDA0002296964300000052
s42, calculating the distance between the bow target and the stern target of the ith self-propelled ship model
Figure FDA0002296964300000057
Figure FDA0002296964300000053
S43, judging
Figure FDA0002296964300000058
Whether or not it is greater than 3 sigmai(ii) a If yes, the azimuth corresponding to the ith self-propelled ship model target is wrong, and the sequence of azimuth angles in the azimuth angle sequence needs to be readjusted; otherwise, no operation is performed;
wherein ,LiFor the actual distance, sigma, between the i-th self-propelled ship model targetsiIs a discrete threshold of inter-target distance measurements.
7. The multi-target self-propelled ship model trajectory tracking measurement method according to claim 6, characterized in that: determining a dispersion threshold σ for the inter-target distance measurement according to the following equationi：
Figure FDA0002296964300000054
wherein ,
Figure FDA0002296964300000059
for self-propelled ship model i to test at the beginningWhen the self-propelled ship model before the test is static, the distance between the targets scanned at the jth time; m is the number of times that the self-propelled ship model is scanned before the test is started; j ═ 1,2, …, M; l isiAnd the actual distance between the targets of the ith self-propelled ship model.
8. The multi-target self-propelled ship model trajectory tracking measurement method according to claim 6, characterized in that: in step S43, the sequence of azimuth angles in the azimuth sequence of the ith self-propelled ship model is readjusted according to the following steps:
s431, corresponding left azimuth angles of the two targets of the ith self-propelled ship model
Figure FDA00022969643000000510
And
Figure FDA00022969643000000511
shift to left azimuth sequence G1According to analogy from step a-b, the left azimuth sequence G is repeated1Adjusting the order of the middle azimuth angles to obtain a left azimuth angle sequence
Figure FDA00022969643000000512
S432. according to the left azimuth sequence
Figure FDA00022969643000000513
And right azimuth angle sequence
Figure FDA00022969643000000514
Executing the steps S41-S42 to obtain a distance difference
Figure FDA0002296964300000061
S433, corresponding right azimuth angles of the two targets of the ith self-propelled ship model
Figure FDA0002296964300000063
And
Figure FDA0002296964300000064
shift to right azimuth sequence H1And finally, analogizing according to the steps e-f, and aligning the right azimuth sequence H again1Adjusting the order of the middle azimuth angles to obtain a right azimuth angle sequence
Figure FDA0002296964300000062
S434, according to the right azimuth sequence
Figure FDA0002296964300000065
And left azimuth angle sequence
Figure FDA0002296964300000066
Executing the steps S41-S42 to obtain a distance difference
Figure FDA0002296964300000067
S435. according to the left azimuth sequence
Figure FDA0002296964300000068
And right azimuth angle sequence
Figure FDA00022969643000000610
Executing the steps S41-S42 to obtain a distance difference
Figure FDA0002296964300000069
S436, calculating a distance difference value A, B and a minimum value min in C;
s437, judging whether the minimum value min is larger than 3 sigmai(ii) a If yes, continue to execute steps S431-S436 until min ≦ 3 σiWhen the execution times exceed 10 times, discarding the scanned left and right azimuth sequence; otherwise, taking the azimuth angle adjustment result corresponding to the minimum value min as a final azimuth angle correction result.
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