CN102901518A - Ship-borne attitude and angle sensor detection method - Google Patents
Ship-borne attitude and angle sensor detection method Download PDFInfo
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- CN102901518A CN102901518A CN2012104248030A CN201210424803A CN102901518A CN 102901518 A CN102901518 A CN 102901518A CN 2012104248030 A CN2012104248030 A CN 2012104248030A CN 201210424803 A CN201210424803 A CN 201210424803A CN 102901518 A CN102901518 A CN 102901518A
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Abstract
The invention discloses a ship-borne attitude and angle sensor detection method, wherein a detected instrument is placed on a detection device based on a ship-borne attitude and angle sensor detection device; according to requirements of detection flow and method, synchronous motion of the device and the detected instrument is realized through software of an upper computer of the detection device; and comparative analysis is performed on a testing parameter value and a detection instrument observation data value by using testing platform software to obtain a detection result and output a detection report. The ship-borne attitude and angle sensor detection method belongs to original research achievement and no related literatures are available.
Description
Technical field
The present invention relates to the marine charting technical field, be specifically related to a kind of boat-carrying attitude and angle sensor detector methods.
Background technology
The oceanic sounding sonar is the requisite equipment in field such as hydrographic, oceanographic survey, national defense applications and research, along with ocean development and monitoring, scientific research of seas etc. develop rapidly, the oceanic sounding sonar is widely applied and has brought into play great function.But; owing to lacking laboratory metering detection method and checkout equipment; most of instruments can't carry out standard and effectively examine and determine/calibrate; the way that can only take on-the-spot self-correcting or ratio to survey; and without unified standard; cause reliability, accuracy and the confidence level of observation data to be had a strong impact on, the data message that obtains exists very large hidden danger of quality.
Summary of the invention
The object of the present invention is to provide a kind of boat-carrying attitude and angle sensor detector methods, for detection of instrument, improve reliability, accuracy and confidence level in its real work.
The present invention to achieve these goals, the technical solution of employing is:
A kind of boat-carrying attitude and angle sensor detector methods, it may further comprise the steps:
(1) starts boat-carrying attitude and angular transducer pick-up unit, first it is carried out mechanical compensation;
(2) compensation experiment is greater than 10 groups, carries out first the forward compensation, each experiment X-axis, Y direction respectively parameters make it forward 5 degree to from-5 degree, each stepping 0.5 degree is set, record each actual stepping number of degrees value;
(3) utilize each actual stepping number of degrees value to obtain the mean value of each actual stepping in position, mean value is deducted stepping parameters 0.5 degree, obtain the deviation of relevant position stepping;
(4) with the stepping to current location of the deviation compensation of each position, the error after the compensation is less than 0.005 degree;
(5) according to step (2), (3) and (4) compensation of reversing, each axle counter-rotating is to forward-5 degree to from 5 degree, and the stepping parameters is similarly 0.5 degree, and the stepping of each axle running is compensated;
(6) carry out data fitting to rotating and reverse respectively, the position that is at every turn forwarded to and the relation function between the offset;
(7) place on the Attitute detecting device boat-carrying attitude and angular transducer also fixing, start instrument and pick-up unit, carrying out the precision of inner coincidence static stability detects: the on time must not be less than 2 hours continuously in the test, changed attitude every 30 minutes, wherein attitude parameter comprise rolling, pitching, bow to up and down heave (rolling, pitching and up and down heave for attitude sensor, bow is to for the optical fiber compass), change after the attitude in 10 minutes not record;
(8) compared an attitude measurement value every 15 minutes, the comparison of calculating attitude is poor, and attitude comparison difference is that attitude is compared poor limit difference should be in 2 times of measurements in the error range so that measured value (attitude changes rear) is as benchmark and rear planar survey difference first;
(9) calculate rolling, pitching, bow to heave standard deviation up and down;
(10) the record attitude is compared the number that difference transfinites;
(11) precision of inner coincidence dynamically navigates by water detection: boat-carrying attitude and angular transducer are placed on the Attitute detecting device and fixing, start instrument and pick-up unit;
(12) treat after 5 minutes stabilization time programming start detection device upper computer software;
(13) the control attitude range is that transverse and longitudinal is shaken 1 °, heave 10cm, bow be to 1 ° up and down, and record data, and sample frequency is 1Hz, and the sampling duration is 5 minutes;
(14) wait for 5 minutes behind the record data, change attitude range and be that transverse and longitudinal is shaken 3 °, heave 25cm, bow be to 3 ° up and down, and record data, sample frequency is 1Hz, the sampling duration is 5 minutes;
(15) continuing to change attitude range after waiting for 5 minutes is that transverse and longitudinal is shaken 5 °, heave 50cm, bow be to 5 ° up and down, and record data, and sample frequency is 1Hz, and the sampling duration is 5 minutes;
(16) repeat above-mentioned (13), (14), (15) step each once, during can not close instrument;
(17) calculate the attitude contrast differences according to (8), and the Record Comparison difference number that transfinites;
(18) calculate attitude measurement rolling, pitching, bow to heave standard deviation up and down;
(19) the precision of exterior coincidence static stability detects: testing process is according to precision of inner coincidence static stability detecting step (1), (7) and (8), wherein the attitude contrast differences is take the pick-up unit setting value as benchmark and attitude sensor measurement difference, the limit difference of attitude contrast differences should be in 2 times of measurements in the error, the number that record attitude contrast difference transfinites;
(20) calculate attitude measurement rolling, pitching, bow to, heave standard deviation up and down;
(21) precision of exterior coincidence dynamically navigates by water detection: testing process is dynamically navigated by water detecting step (6) to (12) according to precision of inner coincidence, wherein the attitude contrast differences is take the pick-up unit setting value as benchmark and attitude sensor measurement difference, the limit difference of attitude contrast differences should be in 2 times of measurements in the error, the number that record attitude contrast difference transfinites;
(22) calculate attitude measurement rolling, pitching, bow to, heave standard deviation up and down;
More than be the detailed implementation step of boat-carrying attitude and angle sensor detector methods, wherein computing formula is in (9), (17), (18) and (22) step:
In the formula (1), λ
iBe the i time attitude observed reading, n is for measuring sum, and the i span is 1 ~ n,
Arithmetic mean for the attitude observed reading.
Beneficial effect of the present invention:
As ocean measuring instrument commonly used, boat-carrying attitude and angular transducer have a very important role in marine charting work, but lack corresponding detection method to guarantee reliability and the accuracy of instrument and equipment.In this invention based on the attitude sensor pick-up unit, the complete effective detection method of one cover has been proposed, detect with the accuracy to boat-carrying attitude and angular transducer, reliability, accuracy and the confidence level of instrument have been guaranteed, filled up the blank in this field, also the detection for other ocean measuring instrument equipment provides reference.This invention is based on boat-carrying attitude and angular transducer pick-up unit, to be detected equipment placement on pick-up unit, according to testing process and method requirement, realize being synchronized with the movement of this device and detected instrument by the pick-up unit upper computer software, utilize test platform software that test parameter value and detecting instrument observed data value are analyzed, draw the report of testing result and output detections.Boat-carrying attitude and angle sensor detector methods among the present invention belong to original achievement in research, report without pertinent literature.
Embodiment
The detected instrument that the present invention adopts is the attitude sensor of the S-108 model of Sweden SMC company production, and the implementation step is as follows:
(1) starts boat-carrying attitude and angular transducer pick-up unit, and it is carried out mechanical compensation;
(2) compensation experiment must not be less than 10 groups, carry out first the forward compensation, each experiment X-axis, Y direction respectively parameters make it forward 5 degree to from-5 degree, each stepping 0.5 degree is set, record each actual stepping number of degrees value (this numerical value can read) from testing software;
(3) utilize each actual stepping number of degrees value to obtain the mean value of each actual stepping in position, mean value is deducted stepping parameters 0.5 degree, obtain the deviation of relevant position stepping;
(4) mean value of each position is compensated stepping to current location, the error after the compensation is less than 0.005 degree.
(5) according to step (2), (3) and (4) compensation of reversing, each axle counter-rotating is to forward-5 degree to from 5 degree, and the stepping parameters is similarly 0.5 degree, and the stepping of each axle running is compensated;
(6) carry out data fitting to rotating and reverse respectively, the position that is at every turn forwarded to and the relation function between the offset.
(7) will be detected instrument (boat-carrying attitude and angular transducer) places on the Attitute detecting device also fixing, start instrument and pick-up unit, carrying out the precision of inner coincidence static stability detects: the on time must not be less than 2h continuously in the test, changed attitude every 30 minutes, wherein attitude parameter comprises rolling, pitching and up and down heave, changes after the attitude in 10 minutes not record;
(8) compared an attitude measurement value every 15 minutes, the comparison of calculating attitude is poor, and attitude comparison difference is that attitude is compared poor limit difference should be in 2 times of measurements in the error range so that measured value (attitude changes rear) is as benchmark and rear planar survey difference first;
(9) calculate rolling, pitching and heave standard deviation up and down;
(10) the record attitude is compared the number that difference transfinites.
(11) precision of inner coincidence dynamically navigates by water detection: the S-108 attitude sensor is placed on the Attitute detecting device and fixing, start attitude sensor;
(12) after spending 5 minutes stabilization time, programming start detection device upper computer software;
(13) the control attitude range is that transverse and longitudinal is shaken 1 °, up and down heave 10cm, and record data, and be 5 minutes writing time;
(14) wait for 5 minutes behind the record data, changing attitude range is that transverse and longitudinal is shaken 3 °, up and down heave 25cm, and record data, and be 5 minutes writing time;
(15) continuing to change attitude range after waiting for 5 minutes is that transverse and longitudinal is shaken 5 °, up and down heave 50cm, and record data, and be 5 minutes writing time;
(16) repeat above-mentioned (13), (14), (15) step each once, during can not close instrument;
(17) calculate the attitude contrast differences according to (8), and the Record Comparison difference number that transfinites;
(18) calculate attitude measurement (rolling, pitching, up and down heave) standard deviation;
(19) the precision of exterior coincidence static stability detects: testing process is according to precision of inner coincidence static stability detecting step (1), (7) and (8), wherein the attitude contrast differences is take the pick-up unit setting value as benchmark and attitude sensor measurement difference, the limit difference of attitude contrast differences should be in 2 times of measurements in the error, the number that record attitude contrast difference transfinites;
(20) calculate attitude measurement (rolling, pitching, up and down heave) standard deviation;
(21) precision of exterior coincidence dynamically navigates by water detection: testing process is dynamically navigated by water detecting step (11) ~ (17) according to precision of inner coincidence, wherein the attitude contrast differences is take the pick-up unit setting value as benchmark and attitude sensor measurement difference, the limit difference of attitude contrast differences should be in 2 times of measurements in the error, the number that record attitude contrast difference transfinites;
(22) calculate attitude measurement (rolling, pitching, up and down heave) standard deviation.
More than be the detailed implementation step to S-108 attitude sensor detection method, wherein computing formula is in (9), (17), (18) and (22) step:
In the formula (1), λ
iBe each attitude parameter of measuring, n is the number of measured parameter, and the i scope is 1 ~ n,
Arithmetic mean for the attitude observed reading.
Example and discussion:
The accuracy of detection of the roll and pitch of attitude sensor pick-up unit is 0.001 degree, and the detection error after the compensation is 0.005 degree.
The static accuracy of the roll and pitch of S-108 model attitude sensor is 0.02 ° (RMS), the precision of heave in ± 10m scope is 5cm or 5% up and down, the static precision of inner coincidence testing standard deviation of the instrument that the above-mentioned testing process of process draws and precision of exterior coincidence testing standard deviation meet accuracy requirement all less than corresponding accuracy value.
The dynamic accuracy of the roll and pitch of S-108 model attitude sensor is 0.03 ° (RMS), up and down heave precision is 5cm or 5%, the instrument dynamic precision of inner coincidence testing standard deviation that the above-mentioned testing process of process draws and precision of exterior coincidence testing standard deviation meet accuracy requirement all less than corresponding accuracy value.
Claims (1)
1. a boat-carrying attitude and angle sensor detector methods is characterized in that, may further comprise the steps:
(1) starts boat-carrying attitude and angular transducer pick-up unit, first it is carried out mechanical compensation;
(2) compensation experiment is greater than 10 groups, carries out first the forward compensation, each experiment X-axis, Y direction respectively parameters make it forward 5 degree to from-5 degree, each stepping 0.5 degree is set, record each actual stepping number of degrees value;
(3) utilize each actual stepping number of degrees value to obtain the mean value of each actual stepping in position, mean value is deducted stepping parameters 0.5 degree, obtain the deviation of relevant position stepping;
(4) with the stepping to current location of the deviation compensation of each position, the error after the compensation is less than 0.005 degree;
(5) according to step (2), (3) and (4) compensation of reversing, each axle counter-rotating is to forward-5 degree to from 5 degree, and the stepping parameters is similarly 0.5 degree, and the stepping of each axle running is compensated;
(6) carry out data fitting to rotating and reverse respectively, the position that is at every turn forwarded to and the relation function between the offset;
(7) place on the Attitute detecting device boat-carrying attitude and angular transducer also fixing, start instrument and pick-up unit, carrying out the precision of inner coincidence static stability detects: the on time must not be less than 2 hours continuously in the test, changed attitude every 30 minutes, wherein attitude parameter comprise rolling, pitching, bow to up and down heave, change after the attitude in 10 minutes not record;
(8) every attitude measurement value of comparison in 15 minutes, the comparison of calculating attitude is poor, and attitude comparison difference is that the poor limit difference of attitude comparison should be in 2 times of measurements in the error range so that measured value is as benchmark and rear planar survey difference first;
(9) calculate rolling, pitching, bow to heave standard deviation up and down;
(10) the record attitude is compared the number that difference transfinites;
(11) precision of inner coincidence dynamically navigates by water detection: boat-carrying attitude and angular transducer are placed on the Attitute detecting device and fixing, start instrument and pick-up unit;
(12) treat after 5 minutes stabilization time programming start detection device upper computer software;
(13) the control attitude range is that transverse and longitudinal is shaken 1 °, heave 10cm, bow be to 1 ° up and down, and record data, and sample frequency is 1Hz, and the sampling duration is 5 minutes;
(14) wait for 5 minutes behind the record data, change attitude range and be that transverse and longitudinal is shaken 3 °, heave 25cm, bow be to 3 ° up and down, and record data, sample frequency is 1Hz, the sampling duration is 5 minutes;
(15) continuing to change attitude range after waiting for 5 minutes is that transverse and longitudinal is shaken 5 °, heave 50cm, bow be to 5 ° up and down, and record data, and sample frequency is 1Hz, and the sampling duration is 5 minutes;
(16) repeat above-mentioned (13), (14), (15) step each once, during can not close instrument;
(17) calculate the attitude contrast differences according to (8), and the Record Comparison difference number that transfinites;
(18) calculate attitude measurement rolling, pitching, bow to heave standard deviation up and down;
(19) the precision of exterior coincidence static stability detects: testing process is according to precision of inner coincidence static stability detecting step (1), (7) and (8), wherein the attitude contrast differences is take the pick-up unit setting value as benchmark and attitude sensor measurement difference, the limit difference of attitude contrast differences should be in 2 times of measurements in the error, the number that record attitude contrast difference transfinites;
(20) calculate attitude measurement rolling, pitching, bow to, heave standard deviation up and down;
(21) precision of exterior coincidence dynamically navigates by water detection: testing process is dynamically navigated by water detecting step (6) to (12) according to precision of inner coincidence, wherein the attitude contrast differences is take the pick-up unit setting value as benchmark and attitude sensor measurement difference, the limit difference of attitude contrast differences should be in 2 times of measurements in the error, the number that record attitude contrast difference transfinites;
(22) calculate attitude measurement rolling, pitching, bow to, heave standard deviation up and down;
More than be the detailed implementation step of boat-carrying attitude and angle sensor detector methods, wherein computing formula is in (9), (17), (18) and (22) step:
In the formula (1), λ
iBe the i time attitude observed reading, n is for measuring sum, and the i span is 1 ~ n,
Arithmetic mean for the attitude observed reading.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210424803.0A CN102901518B (en) | 2012-10-31 | 2012-10-31 | Ship-borne attitude and angle sensor detection method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210424803.0A CN102901518B (en) | 2012-10-31 | 2012-10-31 | Ship-borne attitude and angle sensor detection method |
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| CN102901518A true CN102901518A (en) | 2013-01-30 |
| CN102901518B CN102901518B (en) | 2015-07-15 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105426121A (en) * | 2015-10-30 | 2016-03-23 | 山东科技大学 | Method for storing measurement data of multiple ship-borne sensors together in real time |
| CN108592862A (en) * | 2018-05-10 | 2018-09-28 | 国家海洋局第海洋研究所 | AHRS mounting shift angle measurement methods |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2634822C2 (en) * | 1976-08-03 | 1982-05-19 | Escher Wyss Gmbh, 7980 Ravensburg | Hydrostatic support device |
| TW404918B (en) * | 1999-05-27 | 2000-09-11 | United Ship Design Dev Ct | Hydrofoil and stern flap assembly mechanism for high speed dual-hull passenger boat |
| US6873406B1 (en) * | 2002-01-11 | 2005-03-29 | Opti-Logic Corporation | Tilt-compensated laser rangefinder |
-
2012
- 2012-10-31 CN CN201210424803.0A patent/CN102901518B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2634822C2 (en) * | 1976-08-03 | 1982-05-19 | Escher Wyss Gmbh, 7980 Ravensburg | Hydrostatic support device |
| TW404918B (en) * | 1999-05-27 | 2000-09-11 | United Ship Design Dev Ct | Hydrofoil and stern flap assembly mechanism for high speed dual-hull passenger boat |
| US6873406B1 (en) * | 2002-01-11 | 2005-03-29 | Opti-Logic Corporation | Tilt-compensated laser rangefinder |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105426121A (en) * | 2015-10-30 | 2016-03-23 | 山东科技大学 | Method for storing measurement data of multiple ship-borne sensors together in real time |
| CN105426121B (en) * | 2015-10-30 | 2018-01-16 | 山东科技大学 | Boat-carrying multisensor integrated measuring data real-time storage method |
| CN108592862A (en) * | 2018-05-10 | 2018-09-28 | 国家海洋局第海洋研究所 | AHRS mounting shift angle measurement methods |
| CN108592862B (en) * | 2018-05-10 | 2020-08-21 | 自然资源部第一海洋研究所 | AHRS installation deflection angle measuring method |
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| CN102901518B (en) | 2015-07-15 |
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