CN115660461A - Method for constructing autonomous ship berthing function evaluation index system - Google Patents
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Abstract
The invention discloses a method for constructing an autonomous berthing function evaluation index system of a ship, which comprises the following steps: dividing the autonomous ship berthing process based on the operation process, wherein each divided stage is used as a first-level index of an evaluation index system; primarily selecting secondary indexes under each primary index according to the divided autonomous berthing process; screening secondary indexes based on independence by adopting a statistical method; judging the importance of the index according to the information entropy of the secondary index by adopting an entropy weight method and based on the significance of the information quantity; and refining the evaluation index system, judging whether each secondary index can be refined continuously, and if so, continuously dividing to generate a third-level index. The invention provides a method for evaluating an index system aiming at the autonomous berthing dependence function of an intelligent ship, and the method can establish the corresponding evaluation index system aiming at different ship tonnages and carried equipment, is suitable for various intelligent ships, and reduces the subjectivity and the randomness of manually screening evaluation indexes.
Description
Technical Field
The invention relates to an evaluation index system construction method, in particular to a ship autonomous berthing function evaluation index system construction method.
Background
The autonomous berthing and debarking function has high requirement on berthing operation because the ship is in a low-speed motion state when berthing at a wharf, and the stress condition of the ship is complex due to the limited operation water area. The research on the intelligent ship autonomous berthing and departing system is a key technology for realizing the intelligentization of ships and an important means for improving the safety of the ships.
The research of the automatic berthing system cannot leave a perfect test verification system and a sound standard. Reasonably establishing a complete evaluation index system is a precondition for ensuring the correctness of an evaluation result, and plays a vital role in evaluating the autonomous berthing function.
At the present stage, a complete and reasonable evaluation index system is not established for evaluating the autonomous berthing function of the intelligent ship, and the problem of evaluating the autonomous berthing function of the intelligent ship is difficult to solve.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a method for constructing an autonomous ship berthing function evaluation index system, which is used for effectively assisting research and development testers in evaluating the functions of the autonomous ship berthing function by combining the whole process operation and motion state of an autonomous ship berthing operation process from the aspect of constructing the autonomous ship berthing function evaluation index system.
The technical scheme is as follows: the invention comprises the following steps:
dividing the autonomous berthing and disembarking process of a ship based on an operation flow, wherein each divided stage is used as a primary index of an evaluation index system;
step two, primarily selecting secondary indexes under each primary index according to the divided autonomous berthing and departing processes;
step three, screening secondary indexes based on independence by adopting a statistical method;
judging the importance of the indexes according to the information entropy of the secondary indexes by adopting an entropy weight method and based on the significance of the information quantity;
and step five, refining the evaluation index system, judging whether each secondary index can be refined continuously, and if so, dividing continuously to generate a third-level index.
The third step specifically comprises:
s31, assuming that a indexes, b groups of data to be evaluated, x, are obtained through preliminary selection ij And x kj The j-th group of data representing the i-th index and the j-th group of data representing the k-th index form an original index matrix which is as follows:
s32, calculating a correlation coefficient between the two indexes, wherein the correlation coefficient between the ith index and the jth index is as follows:
s33, checking the correlation coefficient of each index, if r ij If =0, it means that there is no correlation between the two indices, and if not, it means that there is a correlation between the two indices.
The entropy weight method in the fourth step comprises the following steps:
S4I, carrying out standardization processing on the data of each index,suppose that n indexes, m groups of data to be evaluated, x are still present after screening based on independence ij The j-th group of data representing the i-th index forms an original index matrix which is as follows:
as for the forward direction index,
for the reverse index,
for the oscillation index, conversion is needed to be carried out firstly when normalization is carried out, and the index is converted into a forward index or a reverse index so as to ensure comparability between data;
s42, calculating the specific gravity:
if p is ij =0, then
S43, calculating the information entropy of each index:
if the information entropy of the index is smaller, the amount of information provided by the index is larger, the effect in comprehensive evaluation is larger, and the weight is higher.
And the secondary indexes preliminarily selected in the step two cover the speed, the course, the position control and the steering of the steering oar of the ship at each stage of the berthing.
And the secondary indexes are selected by analyzing factors influencing autonomous berthing and combining berthing operation key points and relevant convention specifications.
And the autonomous berthing and departing process of the ship in the first step is divided into an autonomous berthing control stage and an autonomous departing control stage.
The autonomous berthing maneuver is set to take off the anchor from the ground until the vessel reaches the cable on the berthing system.
And the autonomous debarking control stage is set to be that the ship unlocks the cable till the navigation of the ship channel is finished.
Has the advantages that: the invention provides an evaluation index system construction method aiming at the autonomous berthing dependence function of an intelligent ship, and the method can be used for establishing corresponding evaluation index systems aiming at different ship tonnages and carried equipment, is suitable for various intelligent ships, and simultaneously reduces the subjectivity and the randomness of manually screening evaluation indexes.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, the construction method of the present invention includes the steps of:
the method comprises the following steps of firstly, dividing an autonomous berthing and departing process of a ship based on an operation process, and specifically dividing the autonomous berthing and departing process into two stages, wherein each stage is used as a first-level index of an evaluation index system. The autonomous berthing is set as that the ship starts anchoring from an anchoring ground until a mooring rope on a berth system is reached, and the autonomous berthing is set as that the ship unlocks the mooring rope until the navigation of the ship channel is finished. The autonomous berthing stage can be subdivided into several stages of channel navigation, path planning, berthing operation and the like.
The type and tonnage of the ship and the equipped sensors, propellers and other equipment all influence the stage division. Ships are classified into full-drive ships and under-drive ships according to the driving capability of the ships, and the ships are classified into small ships, medium ships, large ships and ultra-large ships according to the tonnage of the ships. The ships with different driving capacities and tonnages have larger difference in the operation performance, the ships with better operability have stronger course stability and starting brake capacity, so that the operation flow is divided without great detail, and a path planning stage and an embankment operation stage need to be focused; for the ship with poor handling performance, the various stages of berthing need to be divided in detail.
And step two, according to the divided autonomous berthing and departing processes, primarily selecting secondary indexes under each primary index by analyzing factors influencing autonomous berthing and combining berthing operation key points and relevant convention specifications. The preliminarily selected secondary indexes comprise information such as the speed, the course, the position control, the steering of the steering oar and the like of each stage of the ship berthing.
Step three, screening secondary indexes based on independence by adopting a statistical method, and specifically comprising the following steps of:
s31, assuming that a indexes, b groups of data to be evaluated, x, are obtained through preliminary selection ij And x kj The j-th group of data representing the i-th index and the j-th group of data representing the k-th index form an original index matrix which is as follows:
s32, calculating a correlation coefficient between the two indexes, wherein the correlation coefficient between the ith index and the jth index is as follows:
s33, checking the correlation coefficient of each index, if r ij If =0, it means that there is no correlation between the two indices, and if not, it means that there is a correlation between the two indices. If the correlation coefficient is large, it can be inferred that the repeated information reflected between the two indexes is more, and when the correlation coefficient of the indexes is larger than 0.9, the repeated information between the two indexes exceeds the critical value, and one of the indexes needs to be deleted or will be deletedThe two indexes are combined.
And fourthly, judging the importance of the indexes according to the information entropy of the secondary indexes by adopting an entropy weight method based on the significance of the information quantity, wherein the entropy weight method comprises the following steps:
s41, standardizing the data of each index, and assuming that n indexes exist after screening based on independence, m groups of data to be evaluated and x ij The j-th group of data representing the i-th index forms an original index matrix which is as follows:
as for the forward direction index,
for the reverse index,
for the oscillation index, that is, the index with the smaller value from a certain interval range is better, and the index with the larger value from a certain interval range is worse, conversion is needed to be performed first during normalization, and the index is converted into a forward index or a reverse index, so as to ensure comparability between data.
S42, calculating the specific gravity:
wherein p is ij Is the specific gravity of the index value of the jth group of data to be evaluated under the ith index, z ij For normalizing the processed index data, if p ij =0, then
S43, calculating the information entropy of each index:
if the information entropy of the index is smaller, the larger the information amount provided by the index is, the larger the information entropy plays a role in comprehensive evaluation is, and the weight should be higher. When the information entropy value of the index is greater than 0.997, the weight corresponding to the index is very small, so that the information entropy of the deleted index is greater than 0.997.
And step five, refining the evaluation index system, judging whether each secondary index can be refined continuously, and if so, dividing continuously to generate a third-level index. For example, the second-level indexes include indexes such as a sailing speed, a pitch, a rudder propeller manipulation and the like, the sailing speed can be further divided into a ship normal phase speed and a longitudinal speed, the pitch can be further divided into a distance between the ship and other ships and a distance between the ship and a berth, and the rudder propeller manipulation can be further divided into rudder manipulation times and a propeller manipulation.
Claims (8)
1. A method for constructing an autonomous berthing and departing function evaluation index system of a ship is characterized by comprising the following steps:
dividing an autonomous berthing process of a ship based on an operation flow, wherein each divided stage is used as a first-level index of an evaluation index system;
step two, primarily selecting secondary indexes under each primary index according to the divided autonomous berthing process;
thirdly, screening secondary indexes by adopting a statistical method based on independence;
judging the importance of the indexes according to the information entropy of the secondary indexes by adopting an entropy weight method and based on the significance of the information quantity;
and step five, refining the evaluation index system, judging whether each secondary index can be refined continuously, and if so, dividing continuously to generate a third-level index.
2. The method for constructing the evaluation index system for the autonomous berthing and disembarking function of the ship according to claim 1, wherein the third step specifically comprises:
s31, assuming that a indexes, b groups of data to be evaluated, x, are obtained through preliminary selection ij And x kj The j group data of the i index and the k index form an original index matrix which is as follows:
s32, calculating a correlation coefficient between the two indexes, wherein the correlation coefficient between the ith index and the jth index is as follows:
s33, checking the correlation coefficient of each index, if r ij And =0, this means that there is no correlation between the two indices, and conversely, this means that there is a correlation between the two indices.
3. The method for constructing the evaluation index system of the autonomous berthing-alongside function of the ship according to claim 1, wherein the entropy weight method in the fourth step comprises the following steps:
s41, standardizing the data of each index, and assuming that n indexes exist after screening based on independence, m groups of data to be evaluated and x ij The j-th group of data representing the i-th index forms an original index matrix which is as follows:
as for the forward direction index,
for the reverse index,
for the oscillation index, conversion is needed to be carried out firstly when normalization is carried out, and the index is converted into a forward index or a reverse index so as to ensure comparability between data;
s42, calculating the specific gravity:
if p is ij =0, then
S43, calculating the information entropy of each index:
if the information entropy of the index is smaller, the amount of information provided by the index is larger, the effect in comprehensive evaluation is larger, and the weight is higher.
4. The method for constructing the index system for evaluating the autonomous berthing and departing function of the ship as claimed in claim 1, wherein the secondary indexes preliminarily selected in the second step cover the speed, the course, the position control and the steering of a steering oar of the ship at each stage of berthing and departing.
5. The method for constructing the evaluation index system of the autonomous berthing function of the ship according to claim 1 or 4, wherein the secondary index is selected by analyzing factors influencing autonomous berthing and combining berthing control points and relevant convention specifications.
6. The method for constructing an index system for evaluating the autonomous berthing function of a ship according to claim 1, wherein the autonomous berthing process in the first step is divided into an autonomous berthing maneuvering phase and an autonomous berthing maneuvering phase.
7. The method as claimed in claim 6, wherein the autonomous berthing maneuver stage is defined as the period from the anchor of the ship to the arrival of the cable on the berth system.
8. The method as claimed in claim 6, wherein the autonomous berthing maneuver stage is set as the vessel unbends the vessel to the end of the vessel channel.
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| CN202211245882.9A CN115660461A (en) | 2022-10-12 | 2022-10-12 | Method for constructing autonomous ship berthing function evaluation index system |
| PCT/CN2023/079769 WO2024077850A1 (en) | 2022-10-12 | 2023-03-06 | Method for constructing evaluation index system for autonomous berthing and unberthing function of ship |
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