引航员登离船人体姿态算法研究与实现

在引航员登离船过程中，单一采取加速度阈值判断方法不能完整表征引航员登离船过程上升下降的信息，导致对登离船信息造成误判.为此，提出一种基于人体姿态的双重信号滤波的引航员登离船监测算法.采集姿态传感器节点引航员姿态数据，进行卡尔曼滤波滤除部分测量噪声，估计出人体姿态状态；构造软件数字低通滤波器滤除重力加速度的影响；构建FIR滤波器滤除所需线性加速度中的噪声，并检测引航员登离船过程中的姿态信息；最终与攀爬防护装置进行联动配合实现.实验结果表明：该检测方法实现了引航员登离船姿态判断，降低了姿态判断的误操作率，能够较好地区分其他误动作.

Research and Implementation on Human Posture Algorithm of Pilot Boarding

During the pilot's departure from the ship,the information of the ascending and descending of the pilot's departure from the ship could not fully rely on the single acceleration threshold judgement method,resulting in a erroneous judgement of the information.For this reason,a dual signal filtering algorithm based on human posture had been proposed to monitor the departure ship.The attitude sensor equipments had been collected for the attitude data,and the Kalman filter has been used to filter out the noise,estimating the posture state of the human body.A software digital low pass filter had been constructed to filter the influence of gravity acceleration.Then the FIR filter had been constructed to filter the noise in the linear acceleration,and had detected the attitude information during the pilot's departure,and Realization of Linkage with Safety Climbing Protective Device.The experimental results show the detection method realizes the attitude judgment of pilot boarding ship and reduces the incorrect operation rate,being better divided into other incorrect behavior.