Extreme Attitude Prediction of Amphibious Vehicles Based on Improved Transformer Model and Extreme Loss Function

Amphibious vehicles are more prone to attitude instability compared to ships, making it crucial to develop effective methods for monitoring instability risks. However, large inclination events, which can lead to instability, occur frequently in both experimental and operational data. This infrequency causes events to be overlooked by existing prediction models, which lack the precision to accurately predict inclination attitudes in amphibious vehicles. To address this gap in predicting attitudes near extreme inclination points, this study introduces a novel loss function, termed generalized extreme value loss. Subsequently, a deep learning model for improved waterborne attitude prediction, termed iInformer, was developed using a Transformer-based approach. During the embedding phase, a text prototype is created based on the vehicle’s operation log data is constructed to help the model better understand the vehicle’s operating environment. Data segmentation techniques are used to highlight local data variation features. Furthermore, to mitigate issues related to poor convergence and slow training speeds caused by the extreme value loss function, a teacher forcing mechanism is integrated into the model, enhancing its convergence capabilities. Experimental results validate the effectiveness of the proposed method, demonstrating its ability to handle data imbalance challenges. Specifically, the model achieves over a 60% improvement in root mean square error under extreme value conditions, with significant improvements observed across additional metrics.