CN111750846A - Marine compass and dynamic calibration method thereof - Google Patents

Marine compass and dynamic calibration method thereof Download PDF

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Publication number
CN111750846A
CN111750846A CN202010789144.5A CN202010789144A CN111750846A CN 111750846 A CN111750846 A CN 111750846A CN 202010789144 A CN202010789144 A CN 202010789144A CN 111750846 A CN111750846 A CN 111750846A
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China
Prior art keywords
axis
carrier
angle
inclination angle
measuring device
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CN202010789144.5A
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Inventor
费宇明
洪桂杰
张又文
车双良
黄腾超
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Deqing Institute Of Advanced Technology And Industry Zhejiang University
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Deqing Institute Of Advanced Technology And Industry Zhejiang University
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Priority to CN202010789144.5A priority Critical patent/CN111750846A/en
Publication of CN111750846A publication Critical patent/CN111750846A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/38—Testing, calibrating, or compensating of compasses

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Gyroscopes (AREA)

Abstract

The invention discloses a ship compass and a dynamic calibration method thereof, and belongs to the field of measurement of course and attitude of an offshore carrier. The compass for ship of the present invention comprises: the device comprises a fiber optic gyroscope, two single-axis tilt angle sensors and two electronic bubbles. Measuring a course angle in real time by using the fiber-optic gyroscope; the single-shaft tilt angle sensor measures a pitch angle and a roll angle in real time; the electronic bubble detects whether the carrier is located at a horizontal position, and carries out calibration and compensation by acquiring an angle measurement error generated by an inclination angle sensor when the carrier is located at the horizontal position. The ship compass can provide course and attitude information for the carrier, and the electronic bubble is adopted to calibrate the inclination angle measurement data, so that the attitude measurement accuracy of the inclination angle sensor is improved, and the ship compass has the advantages of low manufacturing cost, small volume and high dynamic angle measurement accuracy.

Description

Marine compass and dynamic calibration method thereof
Technical Field
The invention relates to the field of measurement of course and attitude of an offshore carrier, in particular to a ship compass working in a dynamic environment by the offshore carrier and a dynamic calibration method thereof.
Background
The compass is an instrument for providing direction reference, is used for determining the course and the direction of an observed object, is widely applied to an offshore carrier, and the accuracy of the compass directly influences the course and the safety of the carrier.
At present, a common ship compass is based on a strapdown inertial navigation system, three fiber-optic gyroscopes are adopted, and an attitude change angle and a course change angle of a carrier within a certain time interval are obtained by continuously measuring the angular speed of the carrier. However, since the offshore carrier is always in a dynamic environment, the fiber-optic gyroscope drift becomes a main factor of error accumulation in long-term work, and the output accuracy of the course and attitude information of the ship compass is influenced. And the three fiber-optic gyroscopes are adopted in the marine compass, so that the requirements on processing, assembly and the like are high, the overall cost is high, and the marine compass cannot be widely applied to small carriers.
How to reduce the production cost of the marine compass and eliminate the accumulated error at the same time and ensure the output accuracy of course and attitude information of the marine compass is a technical problem to be solved urgently.
Disclosure of Invention
In order to overcome the problems that the ship compass in the prior art can not eliminate accumulated errors and can not be widely applied to small carriers due to high cost, the invention provides the ship compass, two single-axis tilt sensors are adopted to replace X-axis and Y-axis optical fiber gyros on a ship optical fiber gyro compass space coordinate system to provide course and attitude information, and an electronic bubble is adopted to calibrate the measured data of the ship optical fiber gyro compass so as to eliminate the accumulated errors in attitude measurement.
The invention is realized by the following technical scheme:
a ship compass comprises an X-axis inclination angle measuring device, a Y-axis inclination angle measuring device and a Z-axis fiber optic gyroscope, wherein the X axis and the Y axis are respectively provided with an electronic bubble;
the signal output ends of the X-axis inclination angle measuring device, the Y-axis inclination angle measuring device and the Z-axis fiber-optic gyroscope respectively output roll angle, pitch angle and course angle information through an interface circuit, and the data calibration module automatically calibrates the X-axis inclination angle measuring device and the Y-axis inclination angle measuring device once when the electronic bubble is in a horizontal position. The X-axis inclination angle measuring device is arranged on an axis pointing to the advancing direction of the carrier in the ship compass body, the Y-axis inclination angle measuring device is arranged on an axis perpendicular to the advancing direction of the carrier, and the X axis and the Y axis face the horizontal direction.
Preferably, the X-axis inclination angle measuring device and the Y-axis inclination angle measuring device are single-axis inclination angle sensors. The single-axis inclination angle sensor on the X axis is arranged on an axis pointing to the advancing direction of the carrier in the ship compass body, the single-axis inclination angle sensor on the Y axis is arranged on an axis perpendicular to the advancing direction of the carrier, and the X axis and the Y axis face the horizontal direction.
Preferably, two single-axis tilt sensors are integrated into one double-axis tilt sensor.
Preferably, the X-axis inclination angle measuring device and the Y-axis inclination angle measuring device are MEMS gyroscopes.
Preferably, the electronic bubble is of a resistive type or an inductive type.
Another object of the present invention is to provide a dynamic calibration method for a ship compass, which includes:
the ship compass is arranged on a carrier, wherein the Z axis faces to the navigation direction of the carrier, and the fiber-optic gyroscope on the Z axis outputs real-time course angle information of the carrier through an interface circuit; the X axis and the Y axis face the horizontal direction and are respectively used for measuring roll angle information and pitch angle information of the carrier;
the X-axis inclination angle measuring device in the ship compass obtains the real-time roll angle information of the carrier through the interface circuit, and then carries out-X theta on the real-time roll angle information through the data calibration moduleiAngle compensation is carried out, and the calibrated roll angle information is obtained and output; compensating for angle-X thetaiThe method comprises the following steps of (1) updating by electronic bubbles in the X-axis direction: every time the carrier is in a horizontal position on the X axis of the space coordinate system, the electronic bubble on the X axis is output onceHorizontal signal, recording X-axis sampling points by data acquisition module, and recording as X lambda1、Xλ2、Xλ3，....，Xλm(ii) a When the data acquisition module acquires the electronic bubble output horizontal position signal X lambdaiIn the process, the data calibration module is used for carrying out zero adjustment on the X-axis inclination angle measuring device for one time, and the compensation angle of the X-axis is updated to be X thetai°；
The Y-axis inclination angle measuring device in the ship compass obtains the real-time pitch angle information of the carrier through the interface circuit, and then carries out-Y theta on the real-time pitch angle information through the data calibration moduleiAngle compensation is carried out, and information of the calibrated pitch angle is obtained and output; compensating for angle-Y thetaiThe degree is updated by electronic bubbles in the Y-axis direction, and the updating process is as follows: when the carrier is in a horizontal position on the Y axis of the space coordinate system, the electronic bubble on the Y axis outputs a horizontal signal, and the data acquisition module records Y axis sampling points respectively as Y lambda1、Yλ2、Yλ3，....，Yλn(ii) a When the data acquisition module acquires the electronic bubble output horizontal position signal Y lambdaiIn the process, the data calibration module is used for carrying out zero adjustment on the Y-axis inclination angle measuring device for one time, and the compensation angle of the Y axis is updated to be Y thetai°。
Preferably, the X, Y axis tilt angle measuring device is calibrated and compensated at the same time.
Compared with the prior art, the invention has the beneficial effects that:
1) because the invention adopts two single-axis tilt sensors to replace the X-axis and Y-axis optical fiber gyroscopes on the compass space coordinate system of the marine optical fiber gyroscope to measure the attitude information of the carrier, compared with the prior art, the cost is reduced.
2) Because the invention adopts the electronic bubble to calibrate the measuring result of the tilt angle sensor, when the electronic bubble on the X axis or the Y axis is in the horizontal position, the inverse number of the reading of the X axis tilt angle sensor or the Y axis tilt angle sensor at the current moment is taken as the compensation angle to calibrate the roll angle and the pitch angle measured in real time. Because the offshore carrier is always in a dynamic environment in the working process, the compensation angles of the X axis and the Y axis are continuously updated, the updating period is short, the accumulated error of the sensor can be automatically eliminated, and the angle measurement precision of the carrier working in the dynamic environment is ensured.
Drawings
FIG. 1 is a schematic diagram of the arrangement of an optical fiber gyroscope, a single-axis tilt sensor and an electronic bubble according to the present invention;
FIG. 2 is a schematic diagram of a sampling period of the vehicle of the present invention in a horizontal position along the X-axis of the spatial coordinate system;
FIG. 3 is a schematic diagram of a sampling period of the vehicle of the present invention in a horizontal position along the Y-axis of the spatial coordinate system;
throughout the drawings, like reference numerals designate like features, and in particular: 1-fiber optic gyroscope, 2-course angle measurement, 3-X axis inclination angle sensor, 4-X axis electronic bubble, 5-roll angle measurement, 6-Y axis inclination angle sensor, 7-Y axis electronic bubble, 8-pitch angle measurement, 9-carrier is located at the horizontal position of the X axis of a space coordinate system, and 10-carrier is located at the horizontal position of the Y axis of the space coordinate system.
Detailed Description
The invention is further illustrated below with reference to the figures and examples.
As shown in fig. 1, the compass for ship according to the present invention mainly includes a fiber optic gyroscope 1 for measuring the angular velocity of the carrier, so as to obtain the heading change angle of the carrier within a certain time interval; the single-axis tilt angle sensors (the X-axis tilt angle sensor 3 and the Y-axis tilt angle sensor 6) are used for measuring acceleration and gravity acceleration of the carrier relative to an inertial space, and further obtaining course attitude information of the carrier in a certain time interval, wherein the course attitude information comprises roll angle information and pitch angle information; specifically, the X-axis tilt angle sensor is mounted on an axis pointing to the advancing direction of the carrier in the ship compass body and used for measuring roll angle information, the Y-axis tilt angle sensor is mounted on an axis perpendicular to the advancing direction of the carrier and used for measuring pitch angle information, and the X-axis and the Y-axis both face the horizontal direction.
The electronic bubbles (the X-axis electronic bubble 4 and the Y-axis electronic bubble 7) are used for detecting whether the carrier is in a horizontal position on the X axis and the Y axis of the space coordinate system, and when any axis is in the horizontal position, the bubbles in the electronic bubble device are in a balance position and can output balance signals.
In one embodiment of the invention, the two uniaxial tilt sensors can be replaced by a biaxial tilt sensor or two MEMS gyroscopes, the electronic bubble being resistive or inductive.
In the compass for the ship provided by the embodiment, two single-axis tilt sensors are specifically adopted to replace optical fiber gyroscopes in the X axis and the Y axis in a compass space coordinate system of the optical fiber gyroscope for the ship so as to provide heading attitude information. However, when the carrier works in a dynamic environment, only two single-axis tilt sensors are adopted to measure a pitch angle and a roll angle in real time, and output signals of the two single-axis tilt sensors are influenced by factors such as acceleration and the like in the motion process, so that effective angle measurement data cannot be effectively identified, and the precision cannot be guaranteed; in order to improve the measurement accuracy, the invention adopts the electronic bubble to judge the horizontal positions of the current carrier on the X axis and the Y axis of a space coordinate system, corrects the angle error of the axial tilt angle sensor when a certain axial direction of the carrier is at the horizontal position, and compensates the angle in the horizontal sampling period.
The marine compass and the calibration method thereof according to the present invention will be described with reference to the accompanying drawings.
As shown in fig. 1, in this embodiment, the number of the fiber optic gyroscope 1 is one, the fiber optic gyroscope is arranged on a Z axis of the marine compass, two single-axis tilt sensors and two electronic blisters are arranged on an X axis and a Y axis of the marine compass respectively, and the X axis and the Y axis are both provided with one tilt sensor and one electronic blister, and the configuration mode can sense an angular velocity signal on the Z axis and acceleration signals on the X axis, the Y axis and the Z axis.
During operation, the optical fiber gyroscope on the Z axis of the space coordinate system, the electronic bubble on the X, Y axis and the measurement signal of the single-axis inclination angle sensor are continuously output.
As shown in fig. 2, whenever the carrier is at a horizontal position on the X-axis of the spatial coordinate system, the electronic bubble on the X-axis will output a horizontal signal, and the horizontal sampling point is recorded as X λ1、Xλ2、Xλ3.., when the data acquisition module receives the electronic bubble output horizontal sampling signal X lambda1The measurement angle of the X-axis electronic bubble of the space coordinate system at the current horizontal position is 0 degree and the measurement angle of the tilt angle sensor is X theta1Controlling the tilt angle sensor to perform zero adjustment, and calculating the correction angle of-X theta1(iv) DEG; at X lambda1Xλ2In the period, the real-time inclination angle measurement data of the X-axis inclination angle sensor is subjected to-X theta through the data calibration module1Angle compensation of degree; then, when the data acquisition module receives the electronic bubble output horizontal sampling signal X lambda2、Xλ3... X λ hereiRepresenting the sampling point when the electronic bubble in the X-axis outputs the ith horizontal signal, and the corresponding X-axis inclination angle sensor measures the angle of X thetai°。
As shown in fig. 3, whenever the carrier is at a horizontal position on the Y-axis of the spatial coordinate system, the electronic bubble on the Y-axis will output a horizontal signal, and the horizontal sampling point is recorded as Y λ1、Yλ2、Yλ3.., when the data acquisition module receives the electronic bubble output horizontal sampling signal Y lambda1The measurement angle of the electronic bubble in the Y axis of the space coordinate system is 0 degree and the measurement angle of the tilt angle sensor is Y theta according to the data acquired in real time1(iv) DEG; controlling the tilt angle sensor to perform zero adjustment, and calculating the correction angle as-Y theta1At Y λ of1Yλ2In the period, the real-time inclination angle measurement data of the Y-axis inclination angle sensor is processed by a data calibration module to be Y theta1Angle compensation of degree; then when the data acquisition module receives the electronic bubble output horizontal sampling signal Y lambda2、Yλ3... Here Y λiThe sampling point of the electronic bubble in the Y-axis direction when outputting the ith horizontal signal is expressed, and the measurement angle corresponding to the Y-axis inclination angle sensor is Y thetai°。
The working principle of the single-shaft tilt angle sensor is as follows: the built-in acceleration sensor and interface circuit that have, wherein acceleration sensor is used for gathering the acceleration information of unipolar direction to turn into voltage signal with acceleration information, export unipolar inclination after interface circuit handles again.
In this embodiment, the Z-axis fiber optic gyroscope on the azimuth axis of the spatial coordinate system operates normally to measure the azimuth of the carrier relative to the north direction or indicate the heading on the carrier; because the invention adopts the electronic bubble to calibrate the measuring result of the tilt angle sensor, when the electronic bubble on the X axis or the Y axis is in the horizontal position, the inverse number of the reading of the X axis tilt angle sensor or the Y axis tilt angle sensor at the current moment is taken as the compensation angle to calibrate the roll angle and the pitch angle measured in real time, and the calibration and the compensation of the X, Y axis tilt angle sensor are simultaneously carried out. Because the offshore carrier is always in a dynamic environment in the working process, the compensation angles of the X axis and the Y axis are continuously updated, the updating period is short, and the accumulated error of the sensor can be automatically eliminated. After the error angle period compensation process is completed, the ship compass can work in a dynamic environment all the time, and outputs a course angle, a pitch angle and a roll angle in real time to provide course and attitude information for the carrier.
The foregoing lists merely illustrate specific embodiments of the invention. It is obvious that the invention is not limited to the above embodiments, but that many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.

Claims (7)

1. The marine compass is characterized by comprising an X-axis inclination angle measuring device, a Y-axis inclination angle measuring device, a Z-axis fiber optic gyroscope and a data calibration module, wherein the X axis and the Y axis are respectively provided with an electronic bubble;
the signal output ends of the X-axis inclination angle measuring device, the Y-axis inclination angle measuring device and the Z-axis fiber-optic gyroscope respectively output roll angle, pitch angle and course angle information through an interface circuit, and the data calibration module automatically calibrates the X-axis inclination angle measuring device and the Y-axis inclination angle measuring device once when the electronic bubble is in a horizontal position.
2. The marine compass according to claim 1, wherein the X-axis inclination angle measuring device and the Y-axis inclination angle measuring device are single-axis inclination angle sensors, the single-axis inclination angle sensor on the X-axis is installed on an axis of the marine compass body which is oriented to the forward direction of the carrier, the single-axis inclination angle sensor on the Y-axis is installed on an axis perpendicular to the forward direction of the carrier, and the X-axis and the Y-axis are both oriented to the horizontal direction.
3. A marine compass according to claim 2, characterised in that two single-axis inclination sensors are integrated into one double-axis inclination sensor.
4. The marine compass according to claim 1, wherein said X-axis and Y-axis inclination measuring devices are MEMS gyros.
5. A marine compass according to claim 1, wherein said electric blisters are of the resistive or inductive type.
6. A method for dynamic calibration of a marine compass according to any one of claims 1-5, comprising:
the ship compass is arranged on a carrier, wherein the Z axis faces to the navigation direction of the carrier, and the fiber-optic gyroscope on the Z axis outputs real-time course angle information of the carrier through an interface circuit; the X axis and the Y axis face the horizontal direction and are respectively used for measuring roll angle information and pitch angle information of the carrier;
the X-axis inclination angle measuring device in the ship compass obtains the real-time roll angle information of the carrier through the interface circuit, and then carries out-X theta on the real-time roll angle information through the data calibration moduleiAngle compensation is carried out, and the calibrated roll angle information is obtained and output; compensating for angle-X thetaiThe method comprises the following steps of (1) updating by electronic bubbles in the X-axis direction: when the carrier is at horizontal position on the X axis of the space coordinate system, the electronic bubble on the X axis outputs a horizontal signal, the data acquisition module records the sampling points of the X axis,is described as X lambda1、Xλ2、Xλ3，....，Xλm(ii) a When the data acquisition module acquires the electronic bubble output horizontal position signal X lambdaiIn the process, the data calibration module is used for carrying out zero adjustment on the X-axis inclination angle measuring device for one time, and the compensation angle of the X-axis is updated to be X thetai°；
The Y-axis inclination angle measuring device in the ship compass obtains the real-time pitch angle information of the carrier through the interface circuit, and then carries out-Y theta on the real-time pitch angle information through the data calibration moduleiAngle compensation is carried out, and information of the calibrated pitch angle is obtained and output; compensating for angle-Y thetaiThe degree is updated by electronic bubbles in the Y-axis direction, and the updating process is as follows: when the carrier is in a horizontal position on the Y axis of the space coordinate system, the electronic bubble on the Y axis outputs a horizontal signal, and the data acquisition module records Y axis sampling points respectively as Y lambda1、Yλ2、Yλ3，....，Yλn(ii) a When the data acquisition module acquires the electronic bubble output horizontal position signal Y lambdaiIn the process, the data calibration module is used for carrying out zero adjustment on the Y-axis inclination angle measuring device for one time, and the compensation angle of the Y axis is updated to be Y thetai°。
7. The dynamic calibration method for a marine compass according to claim 6, wherein the calibration compensation of the X, Y axle inclination measuring devices is performed simultaneously.
CN202010789144.5A 2020-08-07 2020-08-07 Marine compass and dynamic calibration method thereof Pending CN111750846A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114252056A (en) * 2021-12-13 2022-03-29 西安电子工程研究所 Method for cooperatively detecting horizontal state by adopting tilt angle sensor and water bubble

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CN105486276A (en) * 2016-01-12 2016-04-13 北京东方计量测试研究所 High-precision measurement device and measurement method for angle of pitch

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Publication number Priority date Publication date Assignee Title
CN201181213Y (en) * 2008-03-28 2009-01-14 余祖荫 Self-north seeking navigation device of uniaxial gyroscope
CN101825463A (en) * 2010-02-04 2010-09-08 九江中船仪表有限责任公司 Ship compass
CN103134472A (en) * 2013-03-06 2013-06-05 王梓辰 Measuring device capable of monitoring wave height and frequency of river and sea waves in real time
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114252056A (en) * 2021-12-13 2022-03-29 西安电子工程研究所 Method for cooperatively detecting horizontal state by adopting tilt angle sensor and water bubble
CN114252056B (en) * 2021-12-13 2023-08-08 西安电子工程研究所 Method for detecting horizontal state by adopting cooperation of inclination angle sensor and bubble

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