CN103253357A - Control method for ship posture display device - Google Patents
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Abstract
The invention discloses a control method for a ship posture display device. The ship posture display device comprises a first microprocessor, a satellite positioning indicator, a three-axis magnetic sensor, a three-axis gyroscope, a three-axis acceleration sensor, a computer and a touch screen, wherein the satellite positioning indicator, the three-axis magnetic sensor, the three-axis gyroscope, the three-axis acceleration sensor and the computer are connected with the first microprocessor electrically connected with the computer, and the touch screen is electrically connected with the computer. The control method includes pre-establishing a perspective ship model in the computer, and then acquiring a plurality of perspective ship images according to horizontal oscillation angles, longitudinal oscillation angles and the perspective ship model. The control method for the ship posture display device has the advantages that measured data are more accurate and comprehensive; security support is provided for the ship in navigation, goods loading and unloading and docking at ports and the like by displaying the ship postures in real time; and an electronic compass used for displaying courses of the ship can function properly even when the ship posture display device inclines, and security and reliability of the ship navigation are further improved.
Description
Technical field
The present invention relates to the marine operation safety technical field, especially relate to and a kind ofly can show attitude of ship in real time, the attitude of ship method for controlling display device that can provide authentic data to support for the operation of boats and ships marine safety.
Background technology
In recent years, because the reinforcement that deepens continuously and exchange with foreign economic of China's reform and opening-up, the boats and ships transit industry has obtained swift and violent development as the main channel of international trade cargo movement.Because the boats and ships transit industry is accompanied by the continuous progress of marine technology to the demand of large-scale ships, boats and ships maximize has become the trend of boats and ships development.
The large ship load-carrying is big, drinking water is dark, scale length, stroke is big, inertia is big, and it is bigger disturbed by factors such as sea wind, wave, and it is more strong that the less type ship oceangoing ship of its disturbance reponse comes.Disturbed by environmental factors such as sea wind, wave, the maneuvering performance of large ship descends, and the navigation attitude changes, and bad stability produces inevitably and waves, and especially under abominable sea conditions, the marine operation of boats and ships is caused very big potential safety hazard.
A large amount of marine accidents shows that large ship is at the wave water-area navigation, and Ship Swaying is the major cause that has an accident.
Recent years, the serious accident that the heavy people of a lot of large ships ship in high sea dies takes place in China.The shipwreck accident takes place not only make national wealth be subjected to loss, and, cause a tremendous loss of lives; On the other hand, large ship is subjected to the high sea influence across the sea and produces the various motions of swaying, and can bring adverse effect to use, habitability, navigability and the safety etc. of equipment on board.
In order to guarantee the safety of navigation of large ship, understand the attitude of current boats and ships, at present domestic a kind of clinometer equipment commonly used shows the ship rolling attitude, the pitching attitude does not then have special display equipment.
Clinometer is simple in structure, and precision is lower, and particularly under severe sea condition during operation, clinometer can't provide the information of waving accurately for the user, is difficult to use in personnel's task instruction, even can allow the floating staff produce erroneous judgement.
Therefore, press for a attitude of ship read out instrument method that can carry out fast the current attitude of boats and ships, measure comprehensively and accurately at present.
Chinese patent mandate publication number CN202511787U, authorize and disclose a kind of boats and ships horizontal attitude instrument open day on October 31st, 2012, comprise micro controller system, Liquid Crystal Display (LCD), button, communication level modular converter, acceleration due to gravity sensor, buzzer phone and power module of voltage regulation, the signal wire (SW) on the micro controller system pin is connected with Liquid Crystal Display (LCD), button, communication level modular converter, acceleration due to gravity sensor, buzzer phone respectively; Power module of voltage regulation is connected with micro controller system, Liquid Crystal Display (LCD), communication level modular converter, acceleration due to gravity sensor, buzzer phone by lead, and to its power supply.This utility model is only used the acceleration pick-up image data, and the data parameters with collection is single, and the boats and ships horizontal attitude precision of demonstration is low, the shortcoming of poor reliability.
Summary of the invention
The present invention is low in order to overcome clinometer precision of the prior art, particularly under severe sea condition during operation, clinometer can't provide the information of waving accurately for the user, be difficult to use in personnel's task instruction, even can allow the floating staff produce the deficiency of erroneous judgement, provide a kind of and can show attitude of ship in real time, the attitude of ship method for controlling display device of authentic data support can be provided for the operation of boats and ships marine safety.
To achieve these goals, the present invention is by the following technical solutions:
A kind of attitude of ship method for controlling display device, described attitude of ship read out instrument comprise first microprocessor and the global positioning system that is connected with first microprocessor respectively, three geomagnetic sensors, three-axis gyroscope, 3-axis acceleration sensor, computing machines and the touch-screen that is electrically connected with computing machine; First microprocessor is electrically connected with computing machine; Comprise the steps:
(1-1) in computing machine, make up the boats and ships perspective model in advance, and obtain several boats and ships fluoroscopy images according to rolling angle and pitching angle and boats and ships perspective model; Every kind of attitude of ship fluoroscopy images and the one group query argument that pitch angle and roll angle be made of corresponding with it are stored in the hard disk of computing machine; The scope of default pitch angle and roll angle in computing machine;
(1-2) first microprocessor, global positioning system, three geomagnetic sensors, gyroscope, acceleration pick-up, computing machine and touch-screens are started working;
(1-3) global positioning system obtains the locating data information of current location, and locating data information is transferred in the first microprocessor, and first microprocessor is stored to the locating data information that receives in first register of first microprocessor;
After (1-4) first microprocessor receives locating data information, first microprocessor begins to handle the data of geomagnetic field intensity, cireular frequency and linear acceleration that three geomagnetic sensors, three-axis gyroscope and 3-axis acceleration sensor detect, obtains course angle, pitch angle and the roll angle data of hull;
(1-5) first microprocessor carries out the calculating of geographical north course angle, first microprocessor with geographical north course angle, pitch angle and the roll angle data transmission of hull to computing machine;
(1-6) user submits the request of reading the boats and ships fluoroscopy images to by touch-screen to computing machine; Computing machine is according to current pitch angle and the corresponding boats and ships fluoroscopy images of roll angle data query; The boats and ships image shows in touch-screen;
(1-7) touch-screen is provided with storage key, reads key or data run-out key,
When in the regular hour, computing machine does not receive any request, and global positioning system obtains locating data again, and the calculating of new round course angle, pitch angle and roll angle restarts in system;
Ask when the user has submitted storage to, computing machine deposits current course angle, pitch angle and roll angle data in the hard disk of computing machine in;
When the user has submitted the request of reading to, computing machine reads course angle, pitch angle and the roll angle data that are stored in the hard disk, and shows by touch-screen;
Ask when the user has submitted data output to, computing machine carries out data output by the data-out port of being located on the computing machine;
After (1-8) position of ship changed, computing machine was inquired about corresponding boats and ships fluoroscopy images, and image is shown by touch-screen according to the new roll angle that receives and pitch angle and user's request.
The display method of attitude of ship of the present invention not only will be measured the ship rolling attitude, also to measure attitude of ship data such as the pitching of current boats and ships, courses, and the attitude data that records intuitively can be shown, for the control operation of attitude of ship provides reference, guarantee the safety of boats and ships marine operation.
And the display method of attitude of ship of the present invention can also carry out providing when goods loads safe support at boats and ships.When large-scale cargo ship carried out the goods loading, the balance of assurance cargo ship had very big meaning to the safety of cargo ship.Large-scale cargo ship load-carrying is big, absorbs water deeply, and charging burden is big, in the goods loading process, needs to guarantee the steady of cargo ship, guarantees the steady of boats and ships as if failing in the goods loading process, easily causes the cargo ship lack of equilibrium, has an accident.
This method can be monitored attitude of ship in real time, understands current attitude of ship fast, is convenient to the boats and ships staff and formulates job placement; Be beneficial to staff's evolutionary operation; Be easy to the staff and in time operation process made adjustment, guarantee the steady of boats and ships, increased the safety of operation greatly.
As preferably, described step (1-1) also comprises the steps:
Described step (1-1) also comprises the steps:
The boats and ships perspective model is divided into 6 parts, is respectively left front portion, right front portion, middle part, a left side, right middle, left back and right back portion, according to pitching angle and the rolling angle structure fluoroscopy images of boats and ships;
When the rolling angle is 0 ° and 29 °≤pitching of ﹣ angle＜0 °, left front portion, the right front portion of boats and ships perspective model are filled red, obtain the boats and ships attitude fluoroscopy images that leans forward;
When the rolling angle is 0 ° and 0 °＜pitching angle≤29 °, left back and right back of boats and ships perspective model filled red, obtain boats and ships hypsokinesis attitude fluoroscopy images;
When the pitching angle is 0 ° and 29 °≤rolling of ﹣ angle＜0 °, the right front portion of boats and ships perspective model, right middle and right back are filled red, obtain boats and ships Right deviation attitude fluoroscopy images;
When the pitching angle is 0 ° and 0 °＜rolling angle≤29 °, the left front portion of boats and ships perspective model, middle part, a left side and left back are filled red, obtain the left-leaning attitude fluoroscopy images of boats and ships;
When 29 °≤rolling of ﹣ angle＜0 ° and 29 °≤pitching of ﹣ angle＜0 °, the right front portion of boats and ships perspective model is filled red, obtain the right front attitude fluoroscopy images that inclines of boats and ships;
When 29 °≤rolling of ﹣ angle＜0 ° and 0 °＜pitching angle≤29 °, right back of boats and ships perspective model filled red, obtain the right back attitude fluoroscopy images that inclines of boats and ships;
When 0 °＜rolling angle≤29 ° and 29 °≤pitching of ﹣ angle＜0 °, left front of boats and ships perspective model filled red, obtain the left front attitude fluoroscopy images that inclines of boats and ships;
When 0 °＜rolling angle≤29 ° and 0 °＜pitching angle≤29 °, left back of boats and ships perspective model filled red, obtain the left back attitude fluoroscopy images that inclines of boats and ships.
As preferably, described boats and ships fluoroscopy images is the image that current boats and ships dwindle formation by a certain percentage.
As preferably, also comprise the steps:
(4-1) in computing machine, make up a compass background image in advance, it is stored in the hard disk of computing machine;
(4-2) computing machine reads the boats and ships fluoroscopy images, adjusts image scaled according to the screen size of touch-screen, and the boats and ships picture centre is overlapped with screen center, and the compass background image is shown in screen;
Be that initial point makes up part plan system of axes (X-Y) with compass background image center (4-3), along screen from left to right direction be Y-axis, along screen from the bottom up direction be X-axis;
(4-4) according to the geographical north course angle, the boats and ships fluoroscopy images is rotated respective angles to Y-axis, above the boats and ships fluoroscopy images, show geographical north course angle data simultaneously;
When (4-5) receiving new geographical north course angle data, according to new geographical north course angle data, again the boats and ships fluoroscopy images is rotated respective angles to Y-axis, above the boats and ships fluoroscopy images, show geographical north course angle data simultaneously.
As preferably, also comprise the steps:
Computing machine judges according to current attitude of ship data whether boats and ships surpass default pitch angle and roll angle scope; When at least 1 in the pitch angle of boats and ships and the roll angle not in preset range the time, display alarm information in the touch-screen.
As preferably, the scope of pitch angle is 29 ° to 29 ° of ﹣.
As preferably, 29 ° to 29 ° of the scope ﹣ of roll angle.
Therefore, the present invention has following beneficial effect: the data that (1) is measured are more accurate; (2) data of Ce Lianging more comprehensively; (3) can show attitude of ship in real time, for ship's navigation, handling goods and approaching etc. provides safe support; (4) electronic compass can be used for the course and shows, but when the device run-off the straight also normal operation, further improved shipping navigation safety and reliability.
Description of drawings
Fig. 1 is a kind of functional block diagram of the present invention;
Fig. 2 is a kind of diagram of circuit of embodiments of the invention;
Fig. 3 is a kind of boats and ships perspective model scheme drawing of the present invention.
Among the figure: first microprocessor 1, global positioning system 2, three geomagnetic sensors 3, gyroscope 4, acceleration pick-up 5, computing machine 6, touch-screen 7.
The specific embodiment
The present invention will be further described below in conjunction with the drawings and specific embodiments.
Embodiment as shown in Figure 1 is a kind of attitude of ship method for controlling display device, and described attitude of ship read out instrument comprises first microprocessor 1 and the global positioning system 2 that is connected with first microprocessor respectively, three geomagnetic sensors 3, three-axis gyroscope 4,3-axis acceleration sensor 5, computing machines 6 and the touch-screen 7 that is electrically connected with computing machine; First microprocessor is electrically connected with computing machine;
As Fig. 2, shown in Figure 3, comprise the steps:
When the rolling angle is 0 ° and 29 °≤pitching of ﹣ angle＜0 °, left front portion, the right front portion of boats and ships perspective model are filled red, obtain the boats and ships attitude fluoroscopy images that leans forward;
When the rolling angle is 0 ° and 0 °＜pitching angle≤29 °, left back and right back of boats and ships perspective model filled red, obtain boats and ships hypsokinesis attitude fluoroscopy images;
When the pitching angle is 0 ° and 29 °≤rolling of ﹣ angle＜0 °, the right front portion of boats and ships perspective model, right middle and right back are filled red, obtain boats and ships Right deviation attitude fluoroscopy images;
When the pitching angle is 0 ° and 0 °＜rolling angle≤29 °, the left front portion of boats and ships perspective model, middle part, a left side and left back are filled red, obtain the left-leaning attitude fluoroscopy images of boats and ships;
When 29 °≤rolling of ﹣ angle＜0 ° and 29 °≤pitching of ﹣ angle＜0 °, the right front portion of boats and ships perspective model is filled red, obtain the right front attitude fluoroscopy images that inclines of boats and ships;
When 29 °≤rolling of ﹣ angle＜0 ° and 0 °＜pitching angle≤29 °, right back of boats and ships perspective model filled red, obtain the right back attitude fluoroscopy images that inclines of boats and ships;
When 0 °＜rolling angle≤29 ° and 29 °≤pitching of ﹣ angle＜0 °, left front of boats and ships perspective model filled red, obtain the left front attitude fluoroscopy images that inclines of boats and ships;
When 0 °＜rolling angle≤29 ° and 0 °＜pitching angle≤29 °, left back of boats and ships perspective model filled red, obtain the left back attitude fluoroscopy images that inclines of boats and ships.
8 kinds of attitude of ship fluoroscopy images and corresponding one group of query argument that is made of pitch angle and roll angle with it are stored in second register of computing machine; The scope of setting pitch angle and roll angle in advance in computing machine is 29 ° to 29 ° of ﹣; When one or two angle value in pitch angle and the roll angle is not in the scope of 29 ° to 29 ° of ﹣, the touch-screen display alarm information; In computing machine, make up a compass background image in advance, it is stored in the hard disk in the computing machine;
Step 300 is supposed, global positioning system obtains the longitude and latitude data of current location A: longitude: 120.1997 latitudes: 30.2176.Locating data information is transferred in the first microprocessor, and first microprocessor is stored to the locating data information that receives in first register of first microprocessor;
After step 400, first microprocessor received locating data information, first microprocessor began to handle the geomagnetic field intensity (H that geomagnetic sensor, three-axis gyroscope and 3-axis acceleration sensor detect
x, H
y, H
z), cireular frequency (g
x, g
y, g
z) and linear acceleration (a
x, a
y, a
z) data, obtain course angle, pitch angle and the roll angle data of hull;
When using three-axis gyroscope and 3-axis acceleration sensor take off data herein, three accekeration in the accelerometer measures three-dimensional coordinate; Gyroscope survey merges the two system of axes along the magnitude of angular velocity of three rotations;
Spending in the journey in measurement boats and ships attitude angle, accurately and in real time obtain the attitude angle of boats and ships, is the key of total system.Although the electric system sensor just can carry out attitude angle measurement separately, but its accuracy depends primarily on the precision of inertia device, list is difficult to be greatly improved from improving hardware configuration design and processes aspect, and systematic error can accumulate in time, is not suitable for determining of long-time attitude of carrier.So, use single-sensor to be difficult to obtain real relatively attitude angle.For the consideration to the attitude angle measurement accuracy, adopt the method for multiple sensor signals being carried out fusion treatment, obtain the optimum attitude angle.
Adopt the method for single order complementary filter to carry out the signal fused processing herein, obtain the optimum attitude angle.It is advantageous that calculated amount is less, may operate in the small-sized microprocessor, guarantee the real-time of data simultaneously.
At first record the static drift value Gry_offset_X of gyroscope X-axis, method of measurement is: the reading when gyroscope sensitive axes horizontal positioned is static is level, vertical, inversion with the zero offset value herein, gets respectively 1024 times, obtains the result as aviation value:
Gry_offset_X = 45。
In like manner, record the static drift value Gry_offset_Y of gyroscope X-axis:
Gry_offset_Y = 271。
By inquiring about the databook computing gyroscope ratio value Gyr_Gain of official:
Gyr_Gain = 1/131 = 0.00763。
Calculate accelerometer ratio value ACC_Gain by inquiry official databook:
ACC_Gain = 1/16384 = 0.000061。
Set single order complementary filter weight value K_x=0.715; K_y=1.3.
Read six readings; Angular velocity data (gyro data) reading is respectively: 7,62,80; The acceleration information reading is respectively: 8497,4554,13233;
According to accelerometer readings, the observed reading of Y-axis is converted to acceleration/accel (g):
Y_Accelerometer = a
y * ACC_Gain;
So Y_Accelerometer=0.277794
According to accelerometer readings, the observed reading of Z axle is converted to acceleration/accel (g):
Z_Accelerometer = a
z * ACC_Gain;
So Z_Accelerometer=0.807213
According to accelerometer readings, the observed reading of X-axis is converted to acceleration/accel (g):
X_Accelerometer = a
x * ACC_Gain;
So X_Accelerometer=0.518317
Obtain angle value angleA_X with respect to the Z-X face by accelerograph:
angleA_X= arctan(Y_Accelerometer/ Z_Accelerometer)* (180)/ π;
So angleA_X=1088.068 °
Obtain angle value angleA_Y with respect to the Z-Y face by accelerograph:
angleA_Y= arctan(X_Accelerometer/ Z_Accelerometer)* (180)/ π;
So 1873.848 ° of angleA_Y=
The gyroscope X-axis is passed through the revised cireular frequency reading of static error:
g
x _revised = g
x + Gry_offset_X;
So g
x_ revised=52;
The gyroscope Y-axis is passed through the revised cireular frequency reading of static error:
g
y _revised = g
y + Gry_offset_Y;
So g
y_ revised=333
The revised cireular frequency reading of gyroscope X-axis be converted to forward cireular frequency (°/s):
omega_X= Gyr_Gain* g
x _revised;
So omega_X=0.39676 (°/s)
The revised cireular frequency reading of gyroscope Y-axis be converted to forward cireular frequency (°/s):
omega_Y= Gyr_Gain* g
y _revised; 2.54079
So omega_Y=2.54079 (°/s)
The differential value dt of computing time:
Dt=current time-sampling time last time; (unit: second)
The rate of replacement that gyroscope, accelerometer are set is 50hz, and the sampling interval is 0.02s.
dt = 0.02s。
By the gyroscope X-axis calculate the calculating angle:
The angle of gyroscope X-axis in the sampling time:
angle_dt_X = omega_X * dt;
So angle_dt_X=0.0079352 °
By the gyroscope Y-axis calculate the angular speed calculation angle:
The angle of gyroscope Y-axis in the sampling time:
angle_dt_Y = omega_Y * dt; 0.0508158
So angle_dt_Y=0.0508158 °
Begin to carry out fused filtering:
angle_X
n = angle_X
n-1 +(Gyr_Gain * (g
x + Gry_offset_X)) * dt;
angle_Y
n =angle_Y
n-1 +(Gyr_Gain * (g
y + Gry_offset_Y)) * dt;
Because initial angle_X
N-1, angle_Y
N-1Be 0, angle_X herein
n, angle_Y
nEqual 0.0079352 ° and 0.0508158 °.
The weights of computing gyroscope: X-axis angle value: A_X=K_x/ (K_x+ dt);
A_X=0.986
The weights of computing gyroscope: Y-axis angle value: A_Y=K_y/ (K_y+ dt);
A_Y=0.985
Carry out the single order complementary filter, output valve is angle (unit: °):
angle_X= A_X* (angle_X+ omega_X* dt)+ (1-A_X)* angleA_X;
angle_Y= A_Y*(angle_Y+omega_Y*dt)+(1-A_Y)*angleA_Y;
The pitch angle that obtains and the value of roll angle:
Pitch angle: angle_X=15.24 °, roll angle: angle_Y=28.16 °.
30 ,-236 ,-447 geomagnetic data Hx, Hy, Hz reading are respectively:;
Use following formula with the observed reading of magnetoresistive transducer from carrier projecting to ground level,
So far, obtain pitch angle, roll angle and course angle data.
Current angle_X=15.24 °, angle_Y=28.16 ° ,-29 °＜angle_X＜29 ° ,-29 °＜angle_Y＜29 °, so boats and ships surpass default pitch angle and roll angle scope;
When pitch angle angle_X=45 °, roll angle angle_Y=20 °; Display alarm information on the touch-screen.
First microprocessor carries out the calculating of geographical north course angle,
According to formula:
C=sin(MLatA)*sin(MLatB)*cos(MLonA-MLonB)+cos(MLatA)*cos(MLatB)
Distance=R*Arccos (C) * Pi/180 calculates the distance between current and certain point.
Wherein, B is a fixing latitude and longitude value, the central value in expression city, and the longitude and latitude data are Hangzhou herein: its longitude: 120.1260, latitude: 30.2612.
The longitude and latitude of A is (LonA, LatA), the longitude and latitude of second B be (LonB, LatB), benchmark according to 0 degree warp, east longitude degree of learning from else's experience on the occasion of (Longitude), (Longitude), north latitude is got 90-latitude value (90-Latitude) to west longitude degree of learning from else's experience negative value, south latitude is got 90+ latitude value (90+Latitude), then through later 2 of above-mentioned processing counted (MLonA, MLatA) and (MLonB, MLatB).
By formula, point-to-point transmission is at a distance of 8.581km as can be known.
The longitude and latitude data that A is ordered are compared with other point, select with A point at a distance of nearest city, and this urban information is stored.(for example: nearest from Hangzhou herein, then will represent the value storage in Hangzhou to the treater memory module), after two hours, calculate with current at a distance of nearest city according to the locating data of global positioning system again.
Computing machine employing look-up method obtains to be stored in the city magnetic inclination data in the memory module, Hangzhou: 4.4 ° of magnetic inclination (W) are to the west.According to the magnetic inclination data, the geographical north course angle is
=
+
αSo its geographical north course angle is:
= 57.70°+ 4.4°= 62.1 °
When in 5 seconds time, computing machine does not receive any request, and global positioning system obtains locating data again, and the measurement of new round course angle, pitch angle and roll angle restarts in system;
Ask when the user has submitted storage to, computing machine deposits current course angle, pitch angle and roll angle data in the hard disk of computing machine in;
When the user has submitted the request of reading to, computing machine reads course angle, pitch angle and the roll angle data that are stored in the hard disk, and shows by touch-screen;
Ask when the user has submitted data output to, computing machine carries out data output by data-out port;
Step 800, after position of ship changed, computing machine was inquired about corresponding boats and ships fluoroscopy images, and image is shown by touch-screen according to the new roll angle that receives and pitch angle and user's request.
Be that initial point makes up part plan system of axes (X-Y) with compass background image center, along screen from left to right direction be Y-axis, along screen from the bottom up direction be X-axis;
Step 900 is according to the geographical north course angle
=62.1 °, the boats and ships fluoroscopy images along to 62.1 ° of Y direction clickwises, is shown above the boats and ships fluoroscopy images that simultaneously current course angle is 62.1 °;
When receiving new geographical north course angle data, according to new geographical north course angle data, again the boats and ships fluoroscopy images is rotated respective angles to Y-axis, above image, show the course angle data simultaneously.
Should be understood that present embodiment only to be used for explanation the present invention and be not used in and limit the scope of the invention.Should be understood that in addition those skilled in the art can make various changes or modifications the present invention after the content of having read the present invention's instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
Claims (7)
1. attitude of ship method for controlling display device, described attitude of ship read out instrument comprise first microprocessor (1) and the global positioning system that is connected with first microprocessor respectively (2), three geomagnetic sensors (3), three-axis gyroscope (4), 3-axis acceleration sensor (5), computing machine (6) and the touch-screen (7) that is electrically connected with computing machine; First microprocessor is electrically connected with computing machine; It is characterized in that, comprise the steps:
(1-1) in computing machine, make up the boats and ships perspective model in advance, and obtain several boats and ships fluoroscopy images according to rolling angle and pitching angle and boats and ships perspective model; Every kind of attitude of ship fluoroscopy images and the one group query argument that pitch angle and roll angle be made of corresponding with it are stored in the hard disk of computing machine; The scope of default pitch angle and roll angle in computing machine;
(1-2) first microprocessor, global positioning system, three geomagnetic sensors, gyroscope, acceleration pick-up, computing machine and touch-screens are started working;
(1-3) global positioning system obtains the locating data information of current location, and locating data information is transferred in the first microprocessor, and first microprocessor is stored to the locating data information that receives in first register of first microprocessor;
After (1-4) first microprocessor receives locating data information, first microprocessor begins to handle the data of geomagnetic field intensity, cireular frequency and linear acceleration that three geomagnetic sensors, three-axis gyroscope and 3-axis acceleration sensor detect, obtains course angle, pitch angle and the roll angle data of hull;
(1-5) first microprocessor carries out the calculating of geographical north course angle, first microprocessor with geographical north course angle, pitch angle and the roll angle data transmission of hull to computing machine;
(1-6) user submits the request of reading the boats and ships fluoroscopy images to by touch-screen to computing machine; Computing machine is according to current pitch angle and the corresponding boats and ships fluoroscopy images of roll angle data query; The boats and ships image shows in touch-screen;
(1-7) touch-screen is provided with storage key, reads key or data run-out key,
When in the regular hour, computing machine does not receive any request, and global positioning system obtains locating data again, and the calculating of new round course angle, pitch angle and roll angle restarts in system;
Ask when the user has submitted storage to, computing machine deposits current course angle, pitch angle and roll angle data in the hard disk of computing machine in;
When the user has submitted the request of reading to, computing machine reads course angle, pitch angle and the roll angle data that are stored in the hard disk, and shows by touch-screen;
Ask when the user has submitted data output to, computing machine carries out data output by the data-out port of being located on the computing machine;
After (1-8) position of ship changed, computing machine was inquired about corresponding boats and ships fluoroscopy images, and image is shown by touch-screen according to the new roll angle that receives and pitch angle and user's request.
2. a kind of attitude of ship method for controlling display device according to claim 1 is characterized in that, described step (1-1) also comprises the steps:
The boats and ships perspective model is divided into 6 parts, is respectively left front portion, right front portion, middle part, a left side, right middle, left back and right back portion, according to pitching angle and the rolling angle structure fluoroscopy images of boats and ships;
When the rolling angle is 0 ° and 29 °≤pitching of ﹣ angle＜0 °, left front portion, the right front portion of boats and ships perspective model are filled red, obtain the boats and ships attitude fluoroscopy images that leans forward;
When the rolling angle is 0 ° and 0 °＜pitching angle≤29 °, left back and right back of boats and ships perspective model filled red, obtain boats and ships hypsokinesis attitude fluoroscopy images;
When the pitching angle is 0 ° and 29 °≤rolling of ﹣ angle＜0 °, the right front portion of boats and ships perspective model, right middle and right back are filled red, obtain boats and ships Right deviation attitude fluoroscopy images;
When the pitching angle is 0 ° and 0 °＜rolling angle≤29 °, the left front portion of boats and ships perspective model, middle part, a left side and left back are filled red, obtain the left-leaning attitude fluoroscopy images of boats and ships;
When 29 °≤rolling of ﹣ angle＜0 ° and 29 °≤pitching of ﹣ angle＜0 °, the right front portion of boats and ships perspective model is filled red, obtain the right front attitude fluoroscopy images that inclines of boats and ships;
When 29 °≤rolling of ﹣ angle＜0 ° and 0 °＜pitching angle≤29 °, right back of boats and ships perspective model filled red, obtain the right back attitude fluoroscopy images that inclines of boats and ships;
When 0 °＜rolling angle≤29 ° and 29 °≤pitching of ﹣ angle＜0 °, left front of boats and ships perspective model filled red, obtain the left front attitude fluoroscopy images that inclines of boats and ships;
When 0 °＜rolling angle≤29 ° and 0 °＜pitching angle≤29 °, left back of boats and ships perspective model filled red, obtain the left back attitude fluoroscopy images that inclines of boats and ships.
3. a kind of attitude of ship method for controlling display device according to claim 1 is characterized in that, described boats and ships fluoroscopy images is the image that current boats and ships dwindle formation by a certain percentage.
4. a kind of attitude of ship method for controlling display device according to claim 1 is characterized in that, also comprises the steps:
(4-1) in computing machine, make up a compass background image in advance, it is stored in the hard disk of computing machine;
(4-2) computing machine reads the boats and ships fluoroscopy images, adjusts image scaled according to the screen size of touch-screen, and the boats and ships picture centre is overlapped with screen center, and the compass background image is shown in screen;
Be that initial point makes up part plan system of axes (X-Y) with compass background image center (4-3), along screen from left to right direction be Y-axis, along screen from the bottom up direction be X-axis;
(4-4) according to the geographical north course angle, the boats and ships fluoroscopy images is rotated respective angles to Y-axis, above the boats and ships fluoroscopy images, show geographical north course angle data simultaneously;
When (4-5) receiving new geographical north course angle data, according to new geographical north course angle data, again the boats and ships fluoroscopy images is rotated respective angles to Y-axis, above the boats and ships fluoroscopy images, show geographical north course angle data simultaneously.
5. a kind of attitude of ship method for controlling display device according to claim 4 is characterized in that, also comprises the steps:
Computing machine judges according to current attitude of ship data whether boats and ships surpass default pitch angle and roll angle scope; When at least 1 in the pitch angle of boats and ships and the roll angle not in preset range the time, display alarm information in the touch-screen.
6. according to claim 1 or 2 or 3 or 4 or 5 described a kind of attitude of ship method for controlling display device, the scope of pitch angle is 29 ° to 29 ° of ﹣.
7. according to claim 1 or 2 or 3 or 4 or 5 described a kind of attitude of ship method for controlling display device, it is characterized in that 29 ° to 29 ° of the scope ﹣ of roll angle.
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