CN115792799A - Ship model track mapping method and system - Google Patents
Ship model track mapping method and system Download PDFInfo
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Abstract
The invention relates to a ship model track mapping method and a system, wherein a plurality of radio wave distance measuring base stations are built at the shore of a test water pool, response base stations communicated with the radio wave distance measuring base stations are arranged at the gravity center of a ship model, the radio wave distance measuring base stations calculate the distance between the radio wave distance measuring base stations and the ship model according to time nodes for transmitting and receiving radio waves and the transmission speed of the radio waves, a trilateral positioning algorithm is adopted to calculate a plurality of groups of position coordinates of the ship model according to the distance between any two radio wave distance measuring base stations and the distance between each of the two radio wave distance measuring base stations and the ship model, the average value of the plurality of groups of position coordinates of the ship model is calculated to obtain the position coordinate of the ship model at a certain moment, the movement track of the ship model in a certain time period is mapped and displayed according to the positions of the ship model at a plurality of moments, an observer does not need to perform auxiliary operation, the manpower is greatly saved, and the efficiency and the accuracy of the test are improved.
Description
Technical Field
The invention relates to the technical field of wireless communication, in particular to a ship model track mapping method and system.
Background
At present, most ship model tests at home and abroad are carried out in indoor artificial pools, people mostly use a GPS (global positioning system) positioning mode to test in a complex indoor environment, and signals can not be applied to the indoor ship model tests due to the fact that obstacles are shielded to be seriously attenuated.
The optical tracking method is based on the intersection of artificial theodolites to realize positioning, two observation stations (similar to theodolites) are required to be placed at a certain distance from the shore of a water pool, each observation station is integrated with an optical observation mirror and a rotation angle acquisition module, and observation mark points are arranged on a ship model. The observation platform needs an observer to observe the ship model mark points through the optical observation mirror and manually and uniformly rotate the cradle head to track and record the motion track of the ship model. Meanwhile, the integrated module on the observation platform can transmit the acquired information such as the current rotation angle of the holder to the computer terminal through a cable, so that the monitoring of the ship model movement and the recording and storage of data are completed. The method can be completed only by assisting operation by a plurality of workers at the same time, which is very labor-consuming, and because the proficiency of each operator is different from the force and the speed when the observation platform is rotated, the method has the problems of large influence of artificial operation errors, more work content steps, poor continuity of measured data and the like, a motion track graph drawn by a computer end is not smooth, uneven and discontinuous, a certain error exists, and the work efficiency and the measurement precision of the whole test are required to be improved.
In addition, the ultrasonic ranging method measures the distance to a target by using the principle of sound wave reflection, but the sound wave energy is seriously attenuated as the propagation distance is increased, so that the ultrasonic ranging method can be only used in a small area and has certain limitation.
Disclosure of Invention
In order to solve a series of problems in the measurement of the motion trail and the distance of the ship model in the current ship model test, the invention provides a ship model trail mapping method, which measures distance in a radio wave distance measurement and positioning mode, calculates a plurality of groups of position coordinates of the ship model by adopting a trilateral positioning algorithm, does not need an observer to carry out auxiliary operation, greatly saves manpower and improves the efficiency and the accuracy of the test. The invention also provides a ship model track mapping system.
The technical scheme of the invention is as follows:
a ship model track mapping method is characterized by comprising the following steps:
a base station arrangement step: arranging a plurality of radio wave distance measuring base stations on the shore of a test pool, acquiring the distance between any two radio wave distance measuring base stations, constructing a coordinate system, arranging radio wave response base stations on a ship model, and setting the height difference between each radio wave distance measuring base station and each radio wave response base station to be smaller than a preset height threshold value;
a distance calculation step: based on the ultra-wideband wireless communication technology, transmitting radio waves through a radio wave ranging base station, receiving the radio waves by a radio wave response base station and sending the received radio waves back to the radio wave ranging base station, calculating the distance between the radio wave ranging base station and a ship model according to time nodes for transmitting and receiving the radio waves and the transmission speed of the radio waves by the radio wave ranging base station, and transmitting the calculated distance between the radio wave ranging base station and the ship model to a computer terminal by the radio wave ranging base station;
and (3) coordinate calculation: and a Labview program carried by a computer terminal carries out data analysis, a plurality of groups of position coordinates of the ship model are calculated by adopting a trilateral positioning algorithm according to the distance between any two radio wave ranging base stations and the distance between each of the two radio wave ranging base stations and the ship model, the position coordinates of the ship model at a certain moment are obtained by averaging the plurality of groups of position coordinates of the ship model, and the movement track of the ship model in a certain time period is drawn according to the position coordinates of the ship model at a plurality of moments and displayed.
Preferably, the radio wave ranging base station set at the base station arranging step includes a radio wave main ranging base station and a plurality of radio wave sub ranging base stations; in the distance calculating step, radio waves are transmitted by a radio wave main ranging base station and/or each radio wave sub ranging base station, a radio wave response base station receives the radio waves and sends the received radio waves back to the radio wave main ranging base station and/or each radio wave sub ranging base station on the shore, and the distance between the radio wave main ranging base station and each radio wave sub ranging base station and the ship model is calculated through respective microcontrollers; each radio wave auxiliary ranging base station sends the time node and the calculated distance between the radio wave auxiliary ranging base station and the ship model to the radio wave main ranging base station, and the radio wave main ranging base station transmits the distance between the radio wave main ranging base station and the ship model calculated by the radio wave auxiliary ranging base station, the corresponding time node and the distance between the radio wave main ranging base station and the ship model calculated by the received radio wave auxiliary ranging base station and the time node to the computer terminal.
Preferably, in the distance calculating step, the distances between the radio wave main/sub ranging base stations and the ship model are calculated by respective microcontrollers of the radio wave main/sub ranging base stations according to a first time node at which the radio wave main/sub ranging base stations transmit radio wave signals, a second time node at which the radio wave answering base stations receive the radio wave signals when the ship model is underway, a third time node at which the radio wave answering base stations send back to the shore side radio wave main/sub ranging base stations, a fourth time node at which the radio wave main/sub ranging base stations receive the radio wave signals, and the transmission speeds of the radio waves.
Preferably, in the base station arranging step, the radio wave response base station is set at a center of gravity of the ship model.
Preferably, each radio wave ranging base station and each radio wave answering base station adopt DWM1000 modules, and transmit data by sending and receiving extremely narrow pulses with nanosecond or nanosecond level or below based on an ultra-wideband wireless communication technology, wherein the working frequency range of the pulses reaches 3.1-10.6 Ghz; and a microcontroller of the radio wave ranging base station measures the distance between the base station and the ship model by adopting a bilateral ranging resolving technology based on transmission time node calculation.
Preferably, in the coordinate calculation step, after the computer terminal receives ship model data information sent by the radio wave main ranging base station, data analysis, filtering processing, strategy analysis and coordinate calculation are performed, the motion trajectory of the ship model is directly measured and drawn in real time, and index parameters including the test navigational speed, the course angle, the position distance, the circle center coordinate, the turning diameter, the parking distance and/or the Z-shaped test data of the ship model are calculated and displayed.
A ship model track mapping system is characterized by comprising a plurality of radio wave distance measuring base stations arranged on the shore of a test pool, radio wave response base stations arranged on a ship model and a computer terminal connected with the radio wave distance measuring base stations through cables, wherein the radio wave response base stations are respectively in wireless connection with the radio wave distance measuring base stations, a coordinate system is established through any two radio wave distance measuring base stations, and the height difference between the radio wave distance measuring base stations and the radio wave response base stations is smaller than a preset height threshold value;
based on the ultra-wideband wireless communication technology, a radio wave ranging base station arranged on the shore of a test pool emits radio waves, a radio wave response base station arranged on a ship model receives the radio waves and sends the received radio waves back to the radio wave ranging base station, the radio wave ranging base station calculates the distance between the radio wave ranging base station and the ship model according to time nodes for emitting and receiving the radio waves and the transmission speed of the radio waves, and the radio wave ranging base station transmits the calculated distance between the radio wave ranging base station and the ship model to a computer terminal;
the computer terminal receives the distance information and carries out data analysis based on a carried Labview program, a plurality of groups of position coordinates of the ship model are calculated by adopting a trilateral positioning algorithm according to the distance between any two radio wave distance measuring base stations and the distance between each of the two radio wave distance measuring base stations and the ship model, the position coordinates of the ship model at a certain moment are obtained by averaging the plurality of groups of position coordinates of the ship model, and the movement track of the ship model in a certain time period is drawn and displayed according to the position coordinates of the ship model at a plurality of moments.
Preferably, the radio wave ranging base station comprises a radio wave main ranging base station and a plurality of radio wave sub ranging base stations, radio waves are transmitted by the radio wave main ranging base station and/or each radio wave sub ranging base station, the radio wave response base station receives the radio waves and sends the received radio waves back to the radio wave main ranging base station and/or each radio wave sub ranging base station on the shore, and the distance between the radio wave main ranging base station and the ship model is calculated by the respective microcontrollers; each radio wave auxiliary ranging base station sends the time node and the calculated distance between the time node and the ship model to the radio wave main ranging base station, and the radio wave main ranging base station transmits the distance between the radio wave main ranging base station and the ship model calculated by the radio wave auxiliary ranging base station, the corresponding time node and the distance between the radio wave main ranging base station and the ship model calculated by the radio wave auxiliary ranging base station and the time node to the computer terminal.
Preferably, the respective microcontrollers of the radio wave master/slave ranging base stations calculate the distances between the radio wave master/slave ranging base stations and the ship model respectively based on a first time node at which the radio wave master/slave ranging base stations transmit radio wave signals, a second time node at which the radio wave response base stations receive the radio wave signals while the ship model is underway, a third time node at which the radio wave response base stations transmit radio wave signals back to the shore side radio wave master/slave ranging base stations, a fourth time node at which the radio wave master/slave ranging base stations receive the radio wave signals, and the transmission speeds of the radio waves.
Preferably, the radio wave answering base station is arranged at the center of gravity of the ship model.
The invention has the beneficial effects that:
the invention provides a ship model track mapping method and a system, a plurality of radio wave distance measuring base stations are built at the shore of a test pool, a radio wave response base station communicated with each radio wave distance measuring base station is arranged at the gravity center of a ship model, the distance between the radio wave distance measuring base station and the ship model carrying the radio wave response base station is measured in an arrangement mode of cooperative positioning and distance measuring of the plurality of radio wave distance measuring base stations, each distance measuring base station can automatically measure the distance between the ship model and the ship model during working, a bilateral distance measuring solution scheme based on a radio wave transmission time node is adopted, the distance of a target ship model can be accurately measured, and the measurement precision can reach centimetres; furthermore, the main ranging base station can transmit data information such as distances between each ranging base station and the ship model and time nodes to the computer terminal, then the computing terminal can calculate the current position coordinates of the ship model by adopting a trilateral positioning algorithm according to the distances between any two radio wave ranging base stations and the distances between the radio wave ranging base stations and the ship model carrying the radio wave response base stations through an installed Labview program, the measurement is convenient, the operation is simple, the calculation efficiency is high, the positioning is accurate, the position coordinates of the ship model are obtained, and meanwhile the motion track of the ship model within a period of time can be further analyzed and drawn in real time.
The invention adopts a positioning scheme based on the ultra-wideband wireless communication technology, does not need carrier modulation, and avoids the problems that the traditional communication technology needs to be modulated by various carriers and then emitted, so that the communication mode is not only complex in modulation process, but also weak in penetration capability, communication signals are easy to be attenuated by the influence of surrounding environment factors in the transmission process, the transmission distance of equipment signals is very limited, mutual interference is easy to occur and the like. The present invention includes a plurality of radio wave ranging base stations and radio wave response base stations and computer terminals, and the radio wave ranging base stations preferably adopt a configuration of one master base station (radio wave master ranging base station) and a plurality of slave base stations (radio wave slave ranging base stations). The radio wave distance measuring base station is built on the shore of the test water tank and actively monitors the motion of the ship model in real time, and the computer terminal completes the resolving of the position of the ship model, the mapping of the track and the real-time display and result operation of other parameter data. The base station directly sends pulses through the pulse small-sized excitation antenna, the transmission speed of the signal pulses is extremely high, and the high penetrability, the stability and the instantaneity are realized, so that each time node of electric wave transmission can be accurately obtained, the measurement distance can be accurately calculated, the influence of external factors such as the measurement distance, the depth of a water pool and the light intensity is avoided, the problems of large experimental error and the like caused by manual misoperation are solved, the accuracy and the stability of the test are greatly improved, and the distance measurement and positioning accuracy can reach 5cm. The computer terminal can be understood as an upper computer platform which is developed based on a Labview program, has rich integrated functions, can display and map characteristic parameters such as positioning coordinates, motion tracks and speed of the ship model in real time, can directly calculate mapping results such as circle center coordinates, rotation diameters, test navigational speed, course angles, brake test distances, Z-shaped test data and the like of the ship model rotation test, and greatly improves the test efficiency. The ship model test system has the advantages of simple operation, convenient installation, accurate distance measurement, strong adaptability, high integration level and the like, and is very suitable for ship model tests of various ship model positioning and track surveying and mapping.
Drawings
Fig. 1 is a flow chart of the ship model trajectory mapping method of the present invention.
Fig. 2 is a schematic diagram of the base station arrangement according to the present invention.
Fig. 3 is a schematic diagram of positioning and ranging according to the present invention.
FIG. 4 is a schematic diagram of the present invention for trajectory mapping.
FIG. 5 is a diagram showing the result of the ship model trajectory mapping according to the present invention.
Detailed Description
The present invention will be described with reference to the accompanying drawings.
The invention relates to a ship model track mapping method, the flow chart of which is shown in figure 1, and the method sequentially comprises the following steps:
arranging a base station: a plurality of radio wave distance measuring base stations are arranged on the shore of a test pool, the distance between any two radio wave distance measuring base stations is obtained, a coordinate system is built, radio wave response base stations are arranged on a ship model, and the height difference between each radio wave distance measuring base station and the corresponding radio wave response base station is smaller than a preset height threshold value.
Specifically, as shown in fig. 2, a radio wave main ranging base station a and a plurality of radio wave auxiliary ranging base stations, namely, a configuration of a host station and a plurality of auxiliary base stations, are built at four corners of a shore of a test pool, in this embodiment, three radio wave auxiliary ranging base stations (a radio wave auxiliary ranging base station B, a radio wave auxiliary ranging base station C and a radio wave auxiliary ranging base station D) are adopted, a radio wave response base station which is communicated with the radio wave main ranging base station and each auxiliary ranging base station is fixedly arranged at a center of gravity of a ship model (namely, a ship model), a login computer terminal is communicated with the radio wave main ranging base station (called as a main ranging base station for short) for handshaking, a flicker condition of a communication signal lamp on each base station is observed, and all base stations are confirmed to normally work and successfully communicate according to the flicker condition of the communication signal lamp. The radio wave main ranging base station is used as an original point and is respectively connected with the two adjacent radio wave auxiliary ranging base stations to form two right-angle sides of a coordinate system, and the accuracy and the stability of the position of the measured target ship model can be improved through the arrangement mode of the radio wave main ranging base station and the three radio wave auxiliary ranging base stations for cooperative positioning and ranging. It should be noted that, only two, or four, or more radio wave secondary ranging base stations may be used, and the radio wave secondary ranging base stations may not be disposed at four corners of the bank of the test pool, or a right-angle side is formed by the radio wave secondary ranging base stations, but have a certain distance from the right-angle side of the coordinate system, in this case, only this distance difference needs to be considered in subsequent calculation, and the embodiment is only a preferred scheme for convenience of description, and is not a unique limiting scheme.
In order to overcome many problems and disadvantages existing in the traditional communication mode, the invention adopts the emerging 'ultra-wideband wireless communication technology' as a solution, each radio wave ranging base station and radio wave response base station adopts a DWM1000 module, the module does not need to use a carrier wave in the traditional communication system, but transmits data by sending and receiving extremely narrow pulses with nanosecond or nanosecond level or below, the working frequency range of the pulses can reach 3.1-10.6 Ghz, during transmission, the signal pulses have extremely short duration and extremely high transmission speed, and when reflected waves arrive, the transmission and the reception are finished, and the mode has extremely high penetrability, stability and instantaneity. A large number of experiments show that the maximum fading influence of the conventional radio signals on the ultra-wideband radio signals is not more than 5dB in a complex environment with the fading depth of 10-30 dB.
A distance calculation step: based on the ultra-wideband wireless communication technology, when a ship model sails, a radio wave main ranging base station and/or each radio wave auxiliary ranging base station arranged on the shore of a test pool emits radio waves, a radio wave response base station arranged on the ship model receives the radio waves and sends the received radio waves back to the radio wave main ranging base station and/or each radio wave auxiliary ranging base station on the shore, and the distances between the radio wave main ranging base station and each radio wave auxiliary ranging base station and the ship model are calculated through respective microcontrollers; each radio wave auxiliary ranging base station sends the time node and the calculated distance between the time node and the ship model to the radio wave main ranging base station, and the radio wave main ranging base station transmits the distance between the radio wave main ranging base station and the ship model calculated by the radio wave auxiliary ranging base station, the corresponding time node and the distance between the radio wave main ranging base station and the ship model calculated by the radio wave auxiliary ranging base station and the time node to the computer terminal.
Wherein, the distance between the radio wave main/sub ranging base station and the radio wave response base station is respectively calculated by the respective microcontrollers of the radio wave main/sub ranging base station according to a first time node of the radio wave main/sub ranging base station (the ranging base station is abbreviated as figure 1) for transmitting radio wave signals, a second time node of the radio wave response base station (the response base station is abbreviated as figure 1) for receiving the radio wave signals when the ship model sails, a third time node of the radio wave response base station for sending back to the shore radio wave main/sub ranging base station, a fourth time node of the radio wave main/sub ranging base station for receiving the radio wave signals, and the transmission speed of the radio waves.
Furthermore, the microcontroller of the radio wave ranging base station measures the distance between the radio wave ranging base station and the ship model by adopting a bilateral ranging calculation technology based on transmission time node calculation, the distance of the target model can be accurately measured, and the measurement precision can reach centimeter level.
Specifically, as shown in fig. 3, the time node at which the radio wave master/slave ranging base station transmits a radio wave is T1, the time node at which the radio wave response base station on the ship model at the time of sailing receives a radio wave signal is T2, the time node at which the radio wave response base station transmits back to the shore radio wave master/slave ranging base station is T3, and the time node at which the radio wave master/slave ranging base station receives a response signal, that is, a radio wave signal is T4. Since the speed of the radio wave transmission is known, i.e. the speed of light V, the distance S between the model of the vessel carrying the responding base station and the corresponding radio wave master/slave ranging base station can now be calculated as follows:
the distances between the main radio wave ranging base station and each sub radio wave ranging base station and the ship model are marked as Si (i is the number of each ranging base station, and the measuring distance of each ranging base station can be marked as S1, S2 and S3 \8230;).
After the distance between the main radio wave ranging base station and a ship model (namely, the radio wave response base station) is calculated by each radio wave auxiliary ranging base station, each radio wave auxiliary ranging base station sends the calculated distance to the main radio wave ranging base station, and the main radio wave ranging base station disassembles and integrates the distance information calculated by the main radio wave ranging base station and the distance information calculated by each radio wave auxiliary ranging base station according to a specific protocol so as to ensure the safety and the accuracy of information data and transmits the information data to a computer terminal through a cable.
And (3) coordinate calculation: the computer terminal can be understood as a host computer which is independently developed based on a Labview program, after distance information is received, data is firstly analyzed and the validity of the data is judged, then ship model position information obtained through analysis is continuously transmitted into a message queue after being filtered, after the data in the queue is transmitted into an XY chart display control, coordinate calculation is carried out, according to the distance between any two radio wave distance measuring base stations and the distance between each two radio wave distance measuring base stations and a ship model, the position coordinates of a plurality of groups of ship models are calculated through a trilateral positioning algorithm, the position coordinates of the ship models at each moment are averaged to obtain the position coordinates of the ship model at each moment, and the motion track of the ship model in a certain time period is drawn according to the position coordinate mapping of the ship model at each moment and displayed.
After the computer terminal receives the ship model data information sent by the radio wave main ranging base station, data analysis, filtering processing, strategy analysis and coordinate calculation are carried out, characteristic parameters such as positioning coordinates, motion tracks and speed of the ship model can be displayed and measured in real time, and measuring and drawing results such as circle center coordinates, rotation diameter, test navigational speed, course angle, braking test distance, Z-shaped test data of the ship model rotation test can be further obtained through direct calculation, so that the test efficiency is greatly improved.
Specifically, as shown in fig. 4, since the main radio wave ranging base station and each sub radio wave ranging base station are built on the shore of the water tank, the distance between any two radio wave ranging base stations can be measured directly by using a measuring tape or the like, for example, the distance between the main radio wave ranging base station and one of the sub radio wave ranging base stations is measured to be long L, and the distances between the main radio wave ranging base station and the sub radio wave ranging base stations and the response base stations fixed on the ship model can be measured to be the measured distance S1 and the measured distance S2 respectively by the transmission time calculation method.
Assuming that the coordinates of the test ship model are (X, Y), and knowing the distance length L between the base stations, the following formula can be obtained:
the computer terminal has extremely strong computing power, can carry out a large amount of data calculations instantaneously, through above-mentioned formula (2), can select different positioning base station of many groups as trilateral location's measurement base station, substitutes and solves multiunit ship model position coordinate (Xn, yn) into its measured distance value Sn, sums up, gets the average according to the following formula to the coordinate value again:
according to the formula (3), the position coordinates (X, Y) of the ship model can be directly calculated, the method is convenient to measure, simple to operate, high in calculation efficiency and accurate in positioning, the position coordinates of the ship model can be obtained, meanwhile, the motion track of the ship model in a certain time period can be further analyzed in real time, and the motion track of the ship model in a certain time period is shown in figure 5.
The invention also relates to a ship model track mapping system, which corresponds to the ship model track mapping method and can be understood as a system for realizing the ship model track mapping method, the system comprises a plurality of radio wave distance measuring base stations arranged on the shore of a test water pool, radio wave response base stations arranged on a ship model and a computer terminal connected with the radio wave distance measuring base stations through cables, the radio wave response base stations are respectively in wireless connection with the radio wave distance measuring base stations, a coordinate system is constructed through any two radio wave distance measuring base stations, and the height difference between the radio wave distance measuring base stations and the radio wave response base stations is smaller than a preset height threshold value;
based on the ultra-wideband wireless communication technology, a radio wave ranging base station arranged on the shore of a test pool emits radio waves, a radio wave response base station arranged on a ship model receives the radio waves and sends the received radio waves back to the radio wave ranging base station, the radio wave ranging base station calculates the distance between the radio wave ranging base station and the ship model according to time nodes for emitting and receiving the radio waves and the transmission speed of the radio waves, and the radio wave ranging base station transmits the calculated distance between the radio wave ranging base station and the ship model to a computer terminal;
the computer terminal receives the distance information and carries out data analysis based on a carried Labview program, a plurality of groups of position coordinates of the ship model are calculated by adopting a trilateral positioning algorithm according to the distance between any two radio wave distance measuring base stations and the distance between each of the two radio wave distance measuring base stations and the ship model, the position coordinates of the ship model at a certain moment are obtained by averaging the plurality of groups of position coordinates of the ship model, and the movement track of the ship model in a certain time period is drawn and displayed according to the position coordinates of the ship model at a plurality of moments.
Preferably, the radio wave ranging base station comprises a radio wave main ranging base station and a plurality of radio wave sub ranging base stations, radio waves are transmitted by the radio wave main ranging base station and/or each radio wave sub ranging base station, the radio waves answer the base station to receive the radio waves and send the received radio waves back to the radio wave main ranging base station and/or each radio wave sub ranging base station on the shore, and the distance between the radio wave main ranging base station and the ship model is calculated by the respective microcontrollers; each radio wave auxiliary ranging base station sends the time node and the calculated distance between the radio wave auxiliary ranging base station and the ship model to the radio wave main ranging base station, and the radio wave main ranging base station transmits the distance between the radio wave main ranging base station and the ship model calculated by the radio wave auxiliary ranging base station, the corresponding time node and the distance between the radio wave main ranging base station and the ship model calculated by the received radio wave auxiliary ranging base station and the time node to the computer terminal.
Preferably, the distance between the radio wave main/sub ranging base station and the ship model is calculated by respective microcontrollers of the radio wave main/sub ranging base stations according to a first time node at which the radio wave main/sub ranging base station transmits a radio wave signal, a second time node at which the radio wave answering base station receives the radio wave signal while the ship model is underway, a third time node at which the radio wave answering base station sends back the shore side radio wave main/sub ranging base station, a fourth time node at which the radio wave main/sub ranging base station receives the radio wave signal, and the transmission speed of the radio wave.
Preferably, the radio wave response base station is disposed at the center of gravity of the ship model.
The invention provides an objective and scientific ship model track mapping method and system, based on an ultra-wideband wireless communication technology, the distance measurement is carried out in a radio wave distance measurement and positioning mode, a trilateral positioning algorithm is adopted to calculate a plurality of groups of position coordinates of a ship model, an observer is not required to carry out auxiliary operation, the manpower is greatly saved, the efficiency and the accuracy of the test are improved, and the problem of artificial interference in the traditional method is solved.
It should be noted that the above-mentioned embodiments enable a person skilled in the art to more fully understand the invention, without restricting it in any way. Therefore, although the present invention has been described in detail with reference to the drawings and examples, it will be understood by those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A ship model trajectory mapping method is characterized by comprising the following steps:
arranging a base station: arranging a plurality of radio wave distance measuring base stations on the shore of a test pool, acquiring the distance between any two radio wave distance measuring base stations, constructing a coordinate system, arranging radio wave response base stations on a ship model, and setting the height difference between each radio wave distance measuring base station and each radio wave response base station to be smaller than a preset height threshold value;
distance calculation step: based on the ultra-wideband wireless communication technology, transmitting radio waves through a radio wave ranging base station, receiving the radio waves by a radio wave response base station and sending the received radio waves back to the radio wave ranging base station, calculating the distance between the radio wave ranging base station and a ship model according to time nodes for transmitting and receiving the radio waves and the transmission speed of the radio waves by the radio wave ranging base station, and transmitting the calculated distance between the radio wave ranging base station and the ship model to a computer terminal by the radio wave ranging base station;
and (3) coordinate calculation: the method comprises the steps of carrying out data analysis by a Labview program carried by a computer terminal, calculating a plurality of groups of position coordinates of a ship model by adopting a trilateration algorithm according to the distance between any two radio wave distance measuring base stations and the distance between each of the two radio wave distance measuring base stations and the ship model, averaging the plurality of groups of position coordinates of the ship model to obtain the position coordinates of the ship model at a certain moment, drawing and displaying the motion track of the ship model in a certain time period according to the position coordinates of the ship model at the plurality of moments.
2. The ship model trajectory mapping method according to claim 1, wherein the radio wave ranging base station set at the base station arrangement step includes a radio wave primary ranging base station and a plurality of radio wave secondary ranging base stations; in the distance calculating step, radio waves are transmitted by a radio wave main ranging base station and/or each radio wave sub ranging base station, a radio wave response base station receives the radio waves and sends the received radio waves back to the radio wave main ranging base station and/or each radio wave sub ranging base station on the shore, and the distance between the radio wave main ranging base station and each radio wave sub ranging base station and the ship model is calculated through respective microcontrollers; each radio wave auxiliary ranging base station sends the time node and the calculated distance between the time node and the ship model to the radio wave main ranging base station, and the radio wave main ranging base station transmits the distance between the radio wave main ranging base station and the ship model calculated by the radio wave auxiliary ranging base station, the corresponding time node and the distance between the radio wave main ranging base station and the ship model calculated by the radio wave auxiliary ranging base station and the time node to the computer terminal.
3. The ship model trajectory mapping method according to claim 2, wherein in the distance calculating step, the distances between the radio wave master/slave ranging base stations and the ship model are calculated by respective microcontrollers of the radio wave master/slave ranging base stations according to a first time node at which the radio wave master/slave ranging base stations transmit radio wave signals, a second time node at which the radio wave response base station receives the radio wave signals while the ship model is underway, a third time node at which the radio wave response base station transmits back to the shore radio wave master/slave ranging base station, a fourth time node at which the radio wave master/slave ranging base station receives the radio wave signals, and the transmission speeds of the radio waves.
4. The ship model trajectory mapping method according to claim 3, wherein in the base station arranging step, the radio wave responding base station is set at a ship model barycenter position.
5. The ship model track mapping method according to one of claims 1 to 3, characterized in that each of the radio wave ranging base station and the radio wave response base station adopts DWM1000 module, and transmits data by sending and receiving extremely narrow pulses with nanosecond or less based on ultra wide band wireless communication technology, wherein the working frequency band of the pulses reaches 3.1-10.6 Ghz; and a microcontroller of the radio wave ranging base station measures the distance between the base station and the ship model by adopting a bilateral ranging resolving technology based on transmission time node calculation.
6. The ship model trajectory mapping method according to claim 2 or 3, wherein in the coordinate calculation step, after the computer terminal receives the ship model data information sent by the radio wave main ranging base station, the data analysis, the filtering processing, the strategy analysis and the coordinate calculation are performed, the motion trajectory of the ship model is directly measured and drawn in real time, and index parameters including the test navigational speed, the course angle, the position distance, the center coordinates, the gyration diameter, the parking distance and/or the Z-shaped test data of the ship model are calculated and displayed.
7. A ship model track mapping system is characterized by comprising a plurality of radio wave distance measuring base stations arranged on the shore of a test pool, radio wave response base stations arranged on a ship model and a computer terminal connected with the radio wave distance measuring base stations through cables, wherein the radio wave response base stations are respectively in wireless connection with the radio wave distance measuring base stations, a coordinate system is established through any two radio wave distance measuring base stations, and the height difference between the radio wave distance measuring base stations and the radio wave response base stations is smaller than a preset height threshold value;
based on the ultra-wideband wireless communication technology, a radio wave ranging base station arranged on the shore of a test pool emits radio waves, a radio wave response base station arranged on a ship model receives the radio waves and sends the received radio waves back to the radio wave ranging base station, the radio wave ranging base station calculates the distance between the radio wave ranging base station and the ship model according to time nodes for emitting and receiving the radio waves and the transmission speed of the radio waves, and the radio wave ranging base station transmits the calculated distance between the radio wave ranging base station and the ship model to a computer terminal;
the computer terminal receives the distance information and carries out data analysis based on a carried Labview program, a plurality of groups of position coordinates of the ship model are calculated by adopting a trilateral positioning algorithm according to the distance between any two radio wave distance measuring base stations and the distance between each of the two radio wave distance measuring base stations and the ship model, the position coordinates of the ship model at a certain moment are obtained by averaging the plurality of groups of position coordinates of the ship model, and the movement track of the ship model in a certain time period is drawn and displayed according to the position coordinates of the ship model at a plurality of moments.
8. The ship model trajectory mapping system according to claim 7, wherein the radiowave ranging base station comprises a radiowave main ranging base station and a plurality of radiowave sub-ranging base stations, radiowaves are transmitted by the radiowave main ranging base station and/or each radiowave sub-ranging base station, the radiowave response base station receives the radiowaves and sends the received radiowaves back to the radiowave main ranging base station and/or each radiowave sub-ranging base station on the shore, and the distance between the radiowave main ranging base station and the ship model is calculated by the respective microcontrollers; each radio wave auxiliary ranging base station sends the time node and the calculated distance between the radio wave auxiliary ranging base station and the ship model to the radio wave main ranging base station, and the radio wave main ranging base station transmits the distance between the radio wave main ranging base station and the ship model calculated by the radio wave auxiliary ranging base station, the corresponding time node and the distance between the radio wave main ranging base station and the ship model calculated by the received radio wave auxiliary ranging base station and the time node to the computer terminal.
9. The ship model trajectory mapping system according to claim 8, wherein the respective microcontrollers of the radio wave master/slave ranging base stations calculate the distances between the radio wave master/slave ranging base stations and the ship model according to a first time node at which the radio wave master/slave ranging base stations transmit radio wave signals, a second time node at which the radio wave response base station receives radio wave signals while the ship model is underway, a third time node at which the radio wave response base station sends back the radio wave master/slave ranging base stations on the shore, a fourth time node at which the radio wave master/slave ranging base stations receive radio wave signals, and the transmission speeds of radio waves.
10. The ship model trajectory mapping system according to one of claims 7 to 9, wherein the radio wave response base station is disposed at a ship model center of gravity position.
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