The invention discloses a multi-sensor fusion method and system based on a ship-borne six-degree-of-freedom stabilized platform. The method comprises the following steps: acquiring environment data and platform state data; calculating a first information entropy of the environment data and a second information entropy of the platform state data; calculating a consistency index between the environment data and the platform state data; determining the probability density of the pseudo data according to the first information entropy, the second information entropy and the consistency index; if the probability density is greater than a preset threshold value, performing Gaussian distribution fusion on the environment data and the platform state data to obtain a first environment perception feature group; if the probability density is smaller than or equal to a preset threshold value, performing centralized fusion on the environment data and the platform state data to obtain a second environment perception feature group; determining a future motion trend of the ship-borne six-degree-of-freedom stabilized platform through the first environment perception feature group or the second environment perception feature group; and carrying out balance compensation on the ship-based six-degree-of-freedom stabilized platform according to the future motion trend.
本申请公开了一种基于舰载六自由度稳定平台的多传感器融合方法及系统,其方法包括:获取环境数据和平台状态数据;计算环境数据的第一信息熵和平台状态数据的第二信息熵;计算环境数据和平台状态数据之间的一致性指标;根据第一信息熵、第二信息熵和一致性指标,确定伪数据的概率密度;若概率密度大于预设阈值,对环境数据和平台状态数据进行高斯分布融合,得到第一环境感知特征群;若概率密度小于或等于预设阈值,对环境数据和平台状态数据进行集中式融合,得到第二环境感知特征群;通过第一环境感知特征群或第二环境感知特征群,确定舰载六自由度稳定平台的未来运动趋势;根据未来运动趋势对舰载六自由度稳定平台进行平衡性补偿。
Multi-sensor fusion method and system based on ship-borne six-degree-of-freedom stable platform
基于舰载六自由度稳定平台的多传感器融合方法及系统
27.12.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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