CN105404313B - A kind of multi-beam position servo control method - Google Patents
A kind of multi-beam position servo control method Download PDFInfo
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- CN105404313B CN105404313B CN201510788952.9A CN201510788952A CN105404313B CN 105404313 B CN105404313 B CN 105404313B CN 201510788952 A CN201510788952 A CN 201510788952A CN 105404313 B CN105404313 B CN 105404313B
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Abstract
The invention discloses a kind of multi-beam position servo control method, its control system includes controller, driver, motor, internal encoder and external encoder.The present invention comprises the following steps：The references angle of multi-beam transducer is determined by external encoder, demarcates and calculates its spatial relationship with Inertial Measurement Unit, determine the references angle coordinate system of transducer；Under water in operation process, control system controls the arrival specified location of multiple-beam system accurate and flexible, the influence of the external factor such as the resistance due to water, in specified angle small angle skew can occur for multi-beam transducer, control system can record in real time deflection angle and record it is synchronous with gps time after timestamp；According to the timestamp after the deflection angle and time synchronized recorded in real time, wave beam point coordinates under transducer deflection coordinate system is gone under transducer references angle coordinate system.Multi-beam transducer is adjusted to optimal angle and measured by the present invention when needing different angle to gather underwater topography.
Description
Technical field
The present invention relates to a kind of multi-beam position servo control method.
Background technology
Accurate island (reef) and continental shelf seabed coastal landform be to determine China territorial waters, exclusive economic zone it is important according to
It is always a difficult point of domestic and international survey field according to, off-lying sea islands and reefs phytal zone seabed coastal landform and offshore topographic survey waterborne
Problem.Integrated measuring system is a kind of integrated multibeam echosounder, laser scanner, inertia measurement list to boat-carrying waterfront line up and down
The system of the multisensors such as member, DVB, information is gathered by multi-sensor cooperation, phytal zone seabed can be obtained simultaneously
Seashore landform and offshore terrain data waterborne, realize underwater integrated data acquisition waterborne, efficiently solve and be not easy to reach island
Reef topographic survey, the measurement problem for relating to extra large unit littoral zone and beach landform.Wherein, integration above and below boat-carrying waterfront line is being utilized
Measuring system is carried out in phytal zone seabed coastal landform and topographic operation waterborne, and the underwater data waterborne of collection will reach
Seamless spliced integrated effect, the collection of seashore underwater data is vital.The integrated test above and below boat-carrying waterfront line
Multibeam echosounder is mainly used for subaqueous survey work in amount system, can effectively detect underwater topography, obtain high-precision
Three-dimensional land map.
At present, the installation method of conventional multi-beam transducer has three kinds：First method is that multi-beam transducer is straight
The parallel fixation of installation and hull are connect, transducer receives parallel with hull bottom down；Such a method is directed to coastline waterborne underwater one
In body measurement process, the wave beam of parallel launch is difficult to the data for gathering underwater bank, it is difficult to reaches data underwater one waterborne
The effect of change；Second method is to set multiple setting angles on mounting rod for multi-beam transducer, transducer receiving surface with
Hull bottom is into fixed angle；The method can solve the problems, such as to gather seashore underwater data, but the method pin to a certain extent
Dumb to the collection of seabed seashore diversified landform, multi-beam transducer connects once work, its transducer acoustic emission
Receive face angle degree just to fix, different seabed coastal landforms can not flexibly be measured；The method changes peace each simultaneously
It is intended to re-scale the spatial relationship for calculating multi-beam transducer and Inertial Measurement Unit after dress angle, not only adds operation
Complexity, simultaneously because the limitation of measure field environment, calibrated and calculated can not be carried out in real time；The third method be using it is multiple not
With the method for angle multi-beam transducer collection；Although such a method solves seabed coastal landform variation to a certain extent
And can not real-time calibration calculate the inconvenience that the spatial relationship of multi-beam transducer and Inertial Measurement Unit is brought to data acquisition,
But use the method for multiple transducers undoubtedly to improve the cost of collection, while gather some unnecessary redundant datas.
The content of the invention
It is an object of the invention to propose a kind of multi-beam position servo control method, to solve multi-beam transducer with solid
The problem of determining that during angle installation most ideal data can not be obtained, can be such that multi-beam transducer flexibly rotates under water, to needing
Otherwise the underwater topography with angle acquisition is adjusted to optimal angle and measured；The present invention passes through reference-calibrating angle coordinate simultaneously
System, the coordinate system conversion of any angle transducer is realized, to overcome demarcation task after transducer replacing angle not complete in real time
The drawbacks of.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of multi-beam position servo control method, its control system include controller, driver, motor, in-line coding
Device and external encoder；Internal encoder is that motor carries encoder；This method comprises the following steps：
A, the anglec of rotation of the multi-beam transducer using its direction of advance as axle is determined by external encoder, defines the anglec of rotation
Angle on the basis of degree；The spatial relationship of calibrated and calculated multibeam echosounder and Inertial Measurement Unit under references angle, by more ripples
Multi-beam transducer coordinate system of the beam system under references angle is set to transducer references angle coordinate system；
B, the references angle is sent to controller by external encoder, and position command is sent from controller to driver,
Driver control motor rotates and driven the anglec of rotation that multi-beam transducer rotation is determined by external encoder, while internal volume
Code device and external encoder constantly feed back motor and multi-beam transducer positional information for making multi-beam transducer to driver
It is accurate to and reaches specified location；
C, after multi-beam transducer reaches specified location, controller is recorded and stores more ripples in real time by external encoder
Beam transducer caused deflection angle in operation process under water, obtains real-time transducer deflection coordinate system；Controller enters simultaneously
Row time synchronized, the timestamp after acquisition is synchronous with gps time；
D, controller according to the deflection angle that records in real time and it is synchronous with gps time after timestamp, transducer is deflected
Wave beam point coordinates is gone under transducer references angle coordinate system under coordinate system.
Preferably, the controller is embedded computer, single-chip microcomputer or PLC.
Preferably, the spatial relationship of multibeam echosounder and Inertial Measurement Unit includes angle of setting and offset parameter.
Preferably, in the step c, the information-reading method of deflection angle is：
External encoder uses N positions absolute value encoder, and uses SSI communications protocol, and data transfer uses the method for synchronization；
When data transfer does not occur for idle phase, the clock signal of external encoder is put height, now, external encode by controller
The data bit of device is height；The trailing edge triggering external encoder of first clock pulse signal, which is loaded into, sends data, then every
The rising edge external encoder of one clock signal sends out data, data it is high-order preceding, low level is passed when by N positions data rear
After sending, clock signal is put height by controller, and data bit is also corresponded to and returns to high level, and a positional information transmission is completed.
Preferably, in the step c, time system in the controller method synchronous with gps time realization is as follows：
C1, controller and GNSS receiver connect, and receive the PPS pulses that GNSS receiver sends over；
C2, controller are communicated with GNSS receiver, receive the message containing temporal information that GNSS receiver is sent；
C3, GNSS receiver PPS pulses be it is per second send 1 time, and PPS pulses prior to time message reach controller,
Controller parses to the time message received simultaneously, obtains gps time therein；
The gps time that c4, note controller obtain when parsing first is t1, remember t1The future time of time is t2, work as t2When
Between PPS pulses reach controller when, utilize t1Time inside+1s modifier controller, realize synchronous with gps time；
C5, in real time collection multi-beam transducer deflection angle while, record once start collection when time ts, note
Record once gathers the time t after terminatinge；By tsAnd teAverage value tavgThe timestamp gathered as this deflection angle, together with
The deflection angle of collection is stored inside controller in the lump.
Preferably, the step d is specifically included：
D1, according to record in real time deflection angle α, timestamp and by geometrical relationship obtain multi-beam transducer center with
Distance r between multi-beam transducer placement pole pivot；
D2, wave beam point coordinates under transducer deflection coordinate system gone under transducer references angle coordinate system, it, which is changed, closes
System is as follows：
Wherein, α0Represent references angle；α represents deflection angle；CBRepresent transducer references angle coordinate system；CrExpression is changed
Energy device deflection coordinate system, the coordinate system is the multi-beam transducer coordinate system determined by α.
The invention has the advantages that：
First, multi-beam transducer can flexible rotation be more to tackle under water in the range of certain angle in the present invention
The seabed coastal landform of sample, reaches the optimization of data acquisition effect, can more reach boat-carrying waterfront line integrated measuring up and down
The effect of the underwater data waterborne integration required in system；Secondly, the base provided by multi-beam position control system of the present invention
Quasi- angle, deflection angle and timestamp reduce the complexity that calibrated and calculated is brought, and provide references angle and carry out once demarcation meter
Calculate and determine transducer references angle coordinate system, after multi-beam transducer acquisition angles are changed, without carrying out calibrated and calculated again,
Only need to according to real-time deflection angle and it is synchronous with gps time after timestamp, by wave beam point coordinates under transducer deflection coordinate system
It is transformed under transducer references angle coordinate system；Finally, the inventive method utilizes a multi-beam transducer in operation
Rotated at any angle in journey, efficiently controlled the cost of data acquisition.
Brief description of the drawings
Fig. 1 is the schematic diagram of integrated measuring system above and below boat-carrying waterfront line；
Fig. 2 is multi-beam transducer coordinate system CMSchematic diagram；
Fig. 3 is carrier coordinate system CIMUSchematic diagram；
Fig. 4 is transducer frame of reference CBSchematic diagram；
Fig. 5 is transducer deflection coordinate system CrSchematic diagram；
Fig. 6 is the structured flowchart of multi-beam position control system in the present invention；
Fig. 7 is the input and output sequential chart of external encoder in the present invention；
Fig. 8 is the schematic diagram that controller receives PPS pulses and time message in the present invention；
Fig. 9 is controller internal time amendment schematic diagram in the present invention；
Figure 10 is Coordinate Conversion schematic diagram in the present invention；
Figure 11 is a kind of schematic flow sheet of multi-beam position servo control method in the present invention.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is described in further detail to the present invention：
A kind of multi-beam position servo control method, its control system include controller, driver, motor, in-line coding
Device and external encoder；Internal encoder is that motor carries encoder, as shown in Figure 6.Multi-beam position control system of the present invention
Multi-beam transducer can be controlled arbitrarily to be rotated into row data acquisition in the range of certain angle during operation under water.
As shown in figure 11, the inventive method specifically includes following steps：
A, multi-beam transducer references angle coordinate system is determined
It is more to multibeam echosounder, laser scanner, Inertial Measurement Unit, DVB etc. first with prior art
Sensor carries out integration and connected firmly, and forms boat-carrying waterfront line integrated measuring system up and down, as shown in Figure 1.
Multiple coordinate systems be present in integrated measuring system above and below boat-carrying waterfront line, sat including multi-beam transducer
Mark system CM, carrier coordinate system CIMU, transducer references angle coordinate system CB, transducer deflection coordinate system Cr。
Multi-beam transducer coordinate system CMIt is using transducer receiving terminal center as origin OMB, using transducer direction of advance as YM
Axle, along transducer receiving terminal array plane perpendicular to YMAxle dextrad is XM, cross origin and receive array to connection method perpendicular to receiving terminal
Blue direction is ZM, XM、YMWith ZMRight-handed coordinate system is formed, as shown in Figure 2.
Carrier coordinate system CIMUIt is using the barycenter of Inertial Measurement Unit as origin OIMU, its YIMUAxle points to direction of advance, XIMU
Axle is perpendicular to YIMUAxle points to the right side of direction of advance, ZIMUAxle is perpendicular to XIMU, YIMUOn axial direction, right-handed coordinate system, such as Fig. 3 are formed
It is shown.
Transducer references angle coordinate system CBIt is the references angle α provided by external encoder0Determine, wherein, α0It is more
Beam transducer is Y around its direction of advanceIMUDeflection angle, calibrated and calculated multibeam echosounder and inertia are surveyed under this angle
The spatial relationship of unit, including angle of setting and offset parameter are measured, by multiple-beam system in references angle α0Under multi-beam change
Energy device coordinate system is set to transducer references angle coordinate system, as CB, as shown in Figure 4.
B, multi-beam position control system control multi-beam transducer fast and accurately reaches specified angle and made under water
Industry, its specific control process are as follows：
External encoder is by references angle α0Controller is sent to, position command ε is sent from controller to driver, is driven
Device controlled motor rotates and driven the anglec of rotation that multi-beam transducer rotation is determined by external encoder, while internal encoder
Constantly motor is fed back with external encoder to driver and multi-beam transducer positional information is used to make multi-beam transducer accurate
Reach specified location.
Wherein, the controller in the present invention can use embedded computer, single-chip microcomputer or PLC.
Multi-beam control system in the present invention uses Increment Type Digital Hydraulic pid control algorithm.In process control, by deviation
Ratio (P), the PID controller (be also known as PID regulator) that is controlled of integration (I) and differential (D) is most widely used
A kind of automatic controller.The difference equation of Digital PID Controller：
uP(n)=KPE (n) is proportional,For integral term,
For differential term.
C, after multi-beam transducer reaches specified location, because the external factor such as the resistance by water are influenceed, it is referring to
Determine to occur in angle small angle skew, in order to more accurately record the positional information of multi-beam, it is necessary to controller pass through it is outer
Portion's encoder records the deflection angle α of multi-beam transducer in real time, and records corresponding timestamp.Transducer deflection coordinate system Cr
It is the multi-beam transducer coordinate system determined by α, as shown in Figure 5.Deflection angle α information-reading method is as follows：
The characteristics of absolute value encoder is that have a fixed n bit ASCIIs code to correspond to therewith for each position.No
Same absolute value encoder ASCII digit is different.External encoder uses N positions absolute value encoder in the present invention, and uses
SSI communications protocol, data transfer use the method for synchronization.When data transfer does not occur for idle phase, controller is by outside
The clock signal of encoder puts height, and now, the data bit of external encoder is height；The trailing edge of first clock pulse signal touches
Send out external encoder and be loaded into transmission data, then send out data, data in the rising edge external encoder of each clock signal
It is high-order preceding, low level is rear, and after N positions data are transmitted, clock signal is put height by controller, and data bit also corresponds to back
To high level, a positional information transmission is completed, as shown in fig. 7, in embodiments of the present invention, N takes 18.
There are several parameter definitions as follows in figure：T is the pulse period of clock；tpFor data transfer interval, i.e., a upper position
Confidence ceases the time interval between next positional information；tm, can not be prior for encoder for the monostable triggered time
Know the clock pulses number that controller is sent, thus start bit and stop bits can not be determined, the method for solving problem is to use
High potential keeps not changing in a period of time, as end mark；tmMonostable time just refers to this time.
Because the time of controller is relative time, provided by the time system safeguarded in its system, in order to can be with
Wave beam point coordinates under transducer deflection coordinate system is gone under transducer references angle coordinate system, the timestamp of controller record needs
It is synchronous with gps time by the PPS pulses of DVB (GNSS receiver) and corresponding time message.
Time system in the controller method synchronous with gps time realization is as follows：
C1, controller and GNSS receiver connect, and receive the PPS pulses that GNSS receiver sends over；
C2, controller are communicated (network, serial communication etc.) with GNSS receiver, receive containing for GNSS receiver transmission
The message of having time information；
C3, GNSS receiver PPS pulses be it is per second send 1 time, and PPS pulses prior to time message reach controller,
As shown in figure 8, controller parses to the time message received simultaneously, gps time therein is obtained；
The gps time that c4, note controller obtain when parsing first is t1, remember t1The future time of time is t2；Due to t1
The PPS pulses at moment reach embedded computer prior to time message, and the parsing of time message is also required to the time, therefore parse
Gps time t out1Can not be according to the internal time of the PPS pulse shape modification embedded computer systems at the moment, but instantly
One moment t2PPS pulses reach embedded computer system when, utilize t1Time inside+1s modifier controller, you can realize
Controller internal time system is synchronous with gps time, as shown in Figure 9；
C5, the amendment in step c4, the time system inside controller are synchronous by gps time.Real-time
While gathering multi-beam transducer deflection angle, record once starts time t during collections, record once collection terminate after
Time te；By tsAnd teAverage value tavgAs the timestamp of this deflection angle collection, together with deflection angle storage to control
Inside device processed.
D, multi-beam Bathymetric Data is handled
In above-mentioned steps, it is known that the references angle coordinate system of multi-beam transducer is CB=[xB,yB,zB]T。
D1, when control system control transducer fast and accurately reach specified location after, proceed by the underwater of multi-beam
Measurement, controller record and store the deflection angle α of multi-beam transducer, obtain real-time transducer deflection coordinate system Cr=[xr,
yr,zr]T, time synchronized, the timestamp after acquisition is synchronous with gps time are carried out using synchronous plate；According to the deflection recorded in real time
Angle [alpha], timestamp and obtained by geometrical relationship between multi-beam transducer center and multi-beam transducer placement pole pivot
Distance r, as shown in Figure 10；
D2, wave beam point coordinates under transducer deflection coordinate system gone under transducer references angle coordinate system, it, which is changed, closes
System is as follows：
Wherein, α0Represent references angle；α represents deflection angle；CBRepresent transducer references angle coordinate system；CrExpression is changed
Energy device deflection coordinate system, the coordinate system is the multi-beam transducer coordinate system determined by α.
Certainly, described above is only presently preferred embodiments of the present invention, and the present invention is not limited to enumerate above-described embodiment, should
When explanation, any those skilled in the art are all equivalent substitutes for being made, bright under the teaching of this specification
Aobvious variant, all falls within the essential scope of this specification, ought to be protected by the present invention.
Claims (6)
1. a kind of multi-beam position servo control method, its control system includes controller, driver, motor, internal encoder
And external encoder；Internal encoder is that motor carries encoder；Characterized in that, this method comprises the following steps：
A, the anglec of rotation of the multi-beam transducer using its direction of advance as axle is determined by external encoder, defining the anglec of rotation is
References angle；The spatial relationship of calibrated and calculated multibeam echosounder and Inertial Measurement Unit under references angle, by multi-beam system
The multi-beam transducer coordinate system united under references angle is set to transducer references angle coordinate system；
B, the references angle is sent to controller by external encoder, and position command is sent from controller to driver, driving
Device controlled motor rotates and driven the anglec of rotation that multi-beam transducer rotation is determined by external encoder, while internal encoder
Constantly motor is fed back with external encoder to driver and multi-beam transducer positional information is used to make multi-beam transducer accurate
Reach specified location；
C, after multi-beam transducer reaches specified location, controller is recorded and stores multi-beam and changed in real time by external encoder
Can device caused deflection angle in operation process under water, obtain real-time transducer deflection coordinate system；When controller is carried out simultaneously
Between it is synchronous, obtain it is synchronous with gps time after timestamp；
D, controller according to the deflection angle that records in real time and it is synchronous with gps time after timestamp, by transducer deflection coordinate
The lower wave beam point coordinates of system is gone under transducer references angle coordinate system.
2. a kind of multi-beam position servo control method according to claim 1, it is characterised in that the controller is embedding
Enter formula computer, single-chip microcomputer or PLC.
A kind of 3. multi-beam position servo control method according to claim 1, it is characterised in that multibeam echosounder with
The spatial relationship of Inertial Measurement Unit includes angle of setting and offset parameter.
4. a kind of multi-beam position servo control method according to claim 1, it is characterised in that in the step c, partially
The information-reading method of gyration is：
External encoder uses N positions absolute value encoder, and uses SSI communications protocol, and data transfer uses the method for synchronization；Work as sky
When data transfer does not occur for the not busy stage, the clock signal of external encoder is put height, now, external encoder by controller
Data bit is height；The trailing edge triggering external encoder of first clock pulse signal, which is loaded into, sends data, then at each
The rising edge external encoder of clock signal sends out data, data it is high-order preceding, low level has been transmitted when by N positions data rear
Clock signal is put height by Bi Hou, controller, and data bit is also corresponded to and returns to high level, and a positional information transmission is completed.
A kind of 5. multi-beam position servo control method according to claim 1, it is characterised in that in the step c, control
Time system in the device processed method synchronous with gps time realization is as follows：
C1, controller and GNSS receiver connect, and receive the PPS pulses that GNSS receiver sends over；
C2, controller are communicated with GNSS receiver, receive the message containing temporal information that GNSS receiver is sent；
C3, GNSS receiver PPS pulses be it is per second send 1 time, and PPS pulses prior to time message reach controller, simultaneously
Controller parses to the time message received, obtains gps time therein；
The gps time that c4, note controller obtain when parsing first is t1, remember t1The future time of time is t2, work as t2Time
When PPS pulses reach controller, t is utilized1Time inside+1s modifier controller, realize synchronous with gps time；
C5, in real time collection multi-beam transducer deflection angle while, record once start collection when time ts, record one
The secondary time t gathered after terminatinge；By tsAnd teAverage value tavgAs the timestamp of this deflection angle collection, together with collection
Deflection angle store in the lump inside controller.
6. a kind of multi-beam position servo control method according to claim 1, it is characterised in that the step d is specific
Including：
D1, according to the deflection angle α recorded in real time, timestamp and multi-beam transducer center and more ripples are obtained by geometrical relationship
Distance r between beam transducer accommodation bar pivot；
D2, wave beam point coordinates under transducer deflection coordinate system gone under transducer references angle coordinate system, its transformational relation is such as
Under：
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Deflection coordinate system, the coordinate system are the multi-beam transducer coordinate systems determined by α.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107907875A (en) * | 2017-12-21 | 2018-04-13 | 四川中水成勘院工程物探检测有限公司 | Multi-beam transducer attitude regulation and calibrating installation |
| CN109885106B (en) * | 2019-03-29 | 2022-02-11 | 西安微电子技术研究所 | Heliostat installation and transmission error calibration system and method |
| CN110208812A (en) * | 2019-05-21 | 2019-09-06 | 哈尔滨工程大学 | Unmanned vehicles seabed dimensional topography detection device and method partly latent |
| CN110926459A (en) * | 2019-10-17 | 2020-03-27 | 广州南方卫星导航仪器有限公司 | Method and equipment for processing multi-beam data and storage medium thereof |
| CN111649208B (en) * | 2020-06-01 | 2021-10-29 | 中国船舶科学研究中心 | Digital acoustic equipment compatibility test platform based on motion control |
| CN111664882B (en) * | 2020-06-12 | 2022-02-01 | 长沙理工大学 | Encoder position signal estimation method based on time stamp |
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| US6002644A (en) * | 1998-04-20 | 1999-12-14 | Wilk; Peter J. | Imaging system and associated method for surveying underwater objects |
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| US7457196B2 (en) * | 2006-07-17 | 2008-11-25 | Biosonics, Inc. | Networked sonar observation of selected seabed environments |
| CN103743383B (en) * | 2014-02-11 | 2016-09-07 | 星际空间（天津）科技发展有限公司 | A kind of Automatic extraction method for road information based on a cloud |
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