基于时延数据融合的港口船舶监控策略研究

:2007203226:(60434020,60572051);(R106745):(19802),,,,E2mail:[e-mail]:1000-4653(2007)02-0001-051,2,1,1,3(1.,200135;2.,455002;3.,310018):,Kalman,GPSAIS,,,,,,:;;;;;;;:U675.79;TN911.72:AStudyofHarborShipMonitoringStrategyBasedonDelayedDataFusionGEQuan2bo1,GUOYa2mei2,TANGTian2hao1,WENChen2lin1,3(1.ShanghaiMaritimeUniversity,Shanghai200135,China;2.AnyangNormalUniversity,Anyang455002,China;3.HangzhouDianziUniversiy,Hangzhou310018,China)Abstract:Basedontheanalysisofcurrentharborshipmonitoringmethodsandnavigationtechnology,combinedwiththedatafusiontechnologybasedonKalmanfilter,thedesignofshipnavigationalgorithmandmonitoringstrategyapplyingdatafromradar,GPSandAISisstudiedinthispaper.Aimedatthedefectsexistingincurrentdelayedsmoothfusionestimationmethod,acentralizedpredictionestimationfusionalgorithmispresented.Comparedwithcurrentsmoothestimatemethod,thismethodhashigherreal-timeperformanceandapplicability,acompletestrategyofshipnavigationandmonitoringispresentedbyintegrationofthenewandcurrentdelayedsmoothestimatealgorithms.Computersimulationexamplesvalidatethesuperiorityofthenewalgorithmandalsotheeffectivenessofnewmonitoringstrategy.Keywords:Traffictransportsystemengineering;Monitoringandcontrol;Datafusion;Asynchronoussamplingsystem;State;Conversion;Transmissiontimedelay;Ship1,,,,,,,[1],GPS,GPS,,[2],,,Kalman,2007271NAVIGATIONOFCHINANo.2Jun.2007SerialNo.71©1994-2007ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.[123]1,:1.2.GPSGPS,,3.AIS(AutomaticIdentificationSystem),[5]1Fig.1atypicalmonitoringsystemformodernport,3[8,9],,[4,6,7],3[10],,,,,,[10](),,,[10],,,,22.1,,,:x(k+1)=(k)x(k)+w(k)(1)(1):k0,x(k)Rn1k;(k)Rnn;w(k)Rn1,E{w(k)}=0;E{w(k)wT(j)}=Q(k)kj(2)AIS,,GPS,,(3):zi(k)=Hi(k)x(k)+vi(k);i=1,2,N(3)(3):N,N;Zi(k)RPi1(Pin)i;Hi(k)RPin;vi(k)RPi1Ri(k),2.2AIS,,,,(GPS),220072©1994-2007ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.[10],{z1(k),z2(k),,zN(k)}k+1x(k+1),,,33.1(FBSE)[10][10],k1[10]:,^xS(k|k)=^xS0(k|k)+{Ni=1KSi(k)[zi(k)-Hi(k)^xSi-1(k|k)}(PS(k|k))-1=(PS0(k|k))-1+Ni=1HTi(k)R-1i(k)Hi(k)(4)(4)i=1,2,,N;^xS0(k|k)=(k-1)^xS(k-1|k-1)PS0(k|k)=(k-1)PS(k-1|k-1)T(k-1)(5)(5)S,,,,,3.2(FBPE)kx(k)k+1x(k+1),zi(k)(i=1,2,,N)x(k+1),(1)x(k)=-1(k)[x(k+1)-w(k)](6)(6)(3)zi(k)=Hi(k)-1(k)x(k+1)+vi(k)-Hi(k)-1(k)w(k)=zi(k+1)(7),Hi(k+1)=Hi(k)-1(k)(8)i(k+1)=vi(k)-Hi(k)-1(k)w(k)(9)i(k+1)=Hi(k+1)x(k+1)+i(k+1)(10),(1)(10),Nz(k+1)=H(k+1)x(k+1)+v(k+1)(11)(11)z(k+1)=[T1T2TN]T(12)H(k+1)=[HT1HT2HTN]T(13)v(k+1)=[T1T2TN]T(14)v(k+1)R(k+1)=E{v(k+1)vT(k+1)}=R11R12R1NR21wR2NwRN1RNN(15)(15)Rij(k+1)=E{i(k+1)(k+1)Tj}=Rij(k)+H(k)-1(k)Q(k)-T(k)HTj(k)(16)(16)i,j=1,2,,N,Kalman,(1)(11)w(k)v(k+1)w(k)v(k+1),E{w(k)vT(k+1)}=E{w(k)[T1T2TN]}=E{[w(k)T1w(k)T2w(k)TN]}=[E{w(k)T1}E{w(k)T2}E{w(k)TN}](17)E{w(k)Ti(k+1)}0(18)(18)E{w(k)vT(k+1)}=(k+1)0(19)3,:©1994-2007ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(12)(17)k+1(15),,;(19),,(15),(19)Kalman,Kalman,2:(1)(11),^xP(k+1|k+1)=^xP(k+1|k)+K(k+1)[z(k+1)-H(k+1)^xP(k+1|k)]Pp(k+1|k+1)=[I-KP(k+1)HP(k+1)]PP(k+1|k)-KP(k+1)T(k+1)(20)(20):^xP(k+1|k)=(k)^xP(k|k)PP(k+1|k)=(k)PP(k|k)T(k)+Q(k)(21)KP(k+1)=[PP(k+1|k)HT(k+1)+(k+1)][H(k+1)PP(k+1|k)HT(k+1)+R(k+1)+H(k+1)(k+1)+HT(k+1)T(k+1)]-1(22):,Kalman,4,,,,,,2:FBPEk{z1(k),z1(k),,zN(k)}k+1,FBSEk+1{z1(k+1),z2(k+1),,zN(k+1)}k+1FBPEk+1,FBPEk+12Fig.2shippingmonitoringstrategybasedondelayeddatafusiontechnology,,,,FBSEFBPE,,FBPE5(1),[11],(k)=[0.98,0.2;0,0.95];Hi(k)=[0.97,0]N=3;Q(k)=[0.1,0;0,0.1],Ri(k)=[0.01,0;0,0.01](i=1,2,3)x0[5,10],P0=[50,0;0,100]343xFig.3theestimatecurvesfortwomethodstox34,FBSEFBPE,FBPEFBSE,FBPE,420072©1994-2007ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.[1],.[J].,2005(4):40245.LiuHongyu,HuJiping.AnEvaluationSystemforSingle2TargetShipCollisionAvoidanceBasedonDataFusion[J].NavigationofChina,2005(4):40245.[2],.[M].:,2004.ZhouYongyu,XuJiangning.TheIntroductionforNavigationSystemofWarshipandShip[M].Wuhan:NavalUniversityofEngineering,China.2004.[3].AIS[J].,2002(1):22225.LinChangchuan.StudyonFusionMethodofObjectPositionInformationinRadarWithAIS[J].NavigationofChina,2002(1):22225.[4],.[J].,2001,16(2):2102214.HuangXiaorui,CuiPingyuan.ResearchofIntegratedNavigationSystemBasedonInformationFusion[J].JournalofDataAcquisition&Processing,China.2001,16(2):2102214.[5],.(AIS)[J].(),2004,2(4):1352136.ZhouHongbing,ZhangPeng.Trytalkingabouttheapplicationoftheautomaticrecognitionsystemofshipping(AIS)[J].ChinaWaterTransport,2004,2(4):1352136.[6],,.INSPGNSSPSAR[J].,2002(1):1352138.ZouWeibao,GaoShesheng,RenSicong.PerformanceStudyofINSPGNSSPSARIntegratedNavigationSystemandItsReducedOrderModel[J].ContrrolTheoryandApplication,2002(1):1352138.[7]GaoShesheng,ZhouTao.LargeNumberLawforSamplemeanofRandomWeightingEstimate.InformationandScience,2003,(155):1512156.[8],.[M].:,2000.HeYou,WangGuoHongetc..MulisensorInformationandApplication[M].Beijing:PublishingHouseofElectronicsIndustry,China,2000.[9