CN103253357B - 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 marine operation safety technical field, especially relate to one and can show attitude of ship in real time, the control method of the Ship attitude display device that authentic data can be provided to support for the operation of boats and ships marine safety.
Background technology
In recent years, due to the reinforcement exchanged with foreign economic that deepens continuously of China's reform and opening-up, Shipping industry, as the main channel of international trade cargo movement, obtains swift and violent development.Because Shipping industry is to the demand of large-scale ships, along with the continuous progress of marine technology, larger-sized vessel has become the trend of boats and ships development.
Large ship load-carrying is large, drinking water is dark, scale length, stroke are large, inertia is large, by the interference of the factor such as sea wind, wave comparatively greatly, and more strong next compared with spitkit of its disturbance reponse.Disturb by the environmental factor such as sea wind, wave, the maneuvering performance of large ship declines, and navigation attitude changes, bad stability, inevitably produces and waves, especially under severe sea conditions, cause very large potential safety hazard to the marine operation of boats and ships.
A large amount of marine accident displays, large ship is at wave water-area navigation, and Ship Swaying is the major cause had an accident.
Recent years, there is a lot of large ship ship in high sea and sinks the serious accident that people dies in China.Sinking occurs not only makes national wealth be subjected to loss, and, cause a tremendous loss of lives; On the other hand, large ship is subject to high sea impact across the sea and produces and variously sway motion, can bring adverse effect to the use of equipment on board, habitability, navigability and safety etc.
In order to ensure the safety of navigation of large ship, understand the attitude of current boats and ships, current domestic conventional a kind of clinometer equipment shows ship rolling attitude, and pitching attitude does not then have special display equipment.
Clinometer structure is simple, and precision is lower, and particularly under severe sea condition during operation, clinometer cannot wave information accurately for user provides, and is difficult to use in personnel's task instruction, and floating staff even can be allowed to produce erroneous judgement.
Therefore, at present in the urgent need to a Ship attitude display device method can carried out fast boats and ships current pose, measure comprehensively and accurately.
Chinese patent mandate publication number CN202511787U, publication date is authorized to disclose a kind of ship horizontal attitude indicator on October 31st, 2012, comprise micro controller system, Liquid Crystal Display, button, communication level modular converter, Gravity accelerometer, buzzer phone and power module of voltage regulation, the signal wire (SW) on micro controller system pin is connected with Liquid Crystal Display, button, communication level modular converter, Gravity accelerometer, buzzer phone respectively; Power module of voltage regulation is connected with micro controller system, Liquid Crystal Display, communication level modular converter, Gravity accelerometer, buzzer phone by wire, and to its power supply.This utility model only uses acceleration pick-up image data, and the data parameters with collection is single, and the boats and ships horizontal attitude precision of display 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 cannot wave information accurately for user provides, be difficult to use in personnel's task instruction, floating staff even can be allowed to produce the deficiency of erroneous judgement, provide one and can show attitude of ship in real time, the control method of the Ship attitude display device that authentic data can be provided to support for the operation of boats and ships marine safety.
To achieve these goals, the present invention is by the following technical solutions:
A control method for Ship attitude display device, the touch-screen that described Ship attitude display device comprises first microprocessor and the global positioning system be connected with first microprocessor respectively, three axle geomagnetic sensors, three-axis gyroscope, 3-axis acceleration sensor, computing machine and is electrically connected with computing machine; First microprocessor is electrically connected with computing machine; Comprise the steps:
(1-1) build boats and ships perspective models in advance in a computer, and obtain several boats and ships fluoroscopy images according to roll angle and pitch angular and boats and ships perspective model; Often kind of attitude of ship fluoroscopy images and one group of query argument be made up of pitch angle and roll angle are corresponding thereto stored in the hard disk of computing machine; Preset the scope of pitch angle and roll angle in a computer;
(1-2) first microprocessor, global positioning system, three axle geomagnetic sensors, gyroscope, acceleration pick-up, computing machine and touch-screen are started working;
(1-3) global positioning system obtains the location data information of current location, and is transferred in first microprocessor by location data information, and the location data information received is stored in the first register of first microprocessor by first microprocessor;
(1-4) after first microprocessor receives location data information, first microprocessor starts the data processing geomagnetic field intensity, cireular frequency and linear acceleration that three axle geomagnetic sensors, three-axis gyroscope and 3-axis acceleration sensor detect, obtains the course angle of hull, pitch angle and roll angle data;
(1-5) first microprocessor carries out the calculating of geographical north course angle, first microprocessor by the geographical north course angle of hull, pitch angle and roll angle data transmission in computing machine;
(1-6) user submits the request of reading boats and ships fluoroscopy images to computing machine by touch-screen; Computing machine is according to current pitch angle and the corresponding boats and ships fluoroscopy images of roll angle data query; 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 within the regular hour, computing machine does not receive any request, and global positioning system obtains locating data again, and system restarts the calculating of new round course angle, pitch angle and roll angle;
When user have submitted storage resource request, computing machine by current course angle, pitch angle and roll angle data stored in the hard disk of computing machine;
When user have submitted read requests, computing machine reads the course angle, pitch angle and the roll angle data that are stored in hard disk, and is shown by touch-screen;
Export request when user have submitted data, computing machine carries out data output by the data-out port be located on computing machine;
(1-8), after position of ship change, computing machine, according to the request of the new roll angle received and pitch angle and user, is inquired about corresponding boats and ships fluoroscopy images, and is shown by touch-screen by image.
The display method of attitude of ship of the present invention not only will measure boats and ships roll attitude, also to measure attitude of ship data such as the pitching of current boats and ships, courses, and the attitude data recorded intuitively can be shown, for the control operation of attitude of ship provides reference, ensure the safety of boats and ships marine operation.
Further, the display method of attitude of ship of the present invention can also provide safe support when boats and ships carry out Container Loading.When larger cargo ships carries out Container Loading, ensure that the safety of balance to cargo ship of cargo ship has very big meaning.Larger cargo ships load-carrying is large, and drinking water is dark, and charging burden is large, in cargo loading procedures, needs to ensure the steady of cargo ship, ensures the steady of boats and ships, easily cause cargo ship lack of equilibrium, have an accident if fail in cargo loading procedures.
This method can Real-Time Monitoring attitude of ship, understands current attitude of ship fast, is convenient to vessel operation personnel and formulates job placement; Be beneficial to staff's evolutionary operation; Be easy to staff make adjustment to operation process in time, ensure the steady of boats and ships, considerably increase the safety of operation.
As preferably, described step (1-1) also comprises the steps:
Described step (1-1) also comprises the steps:
Boats and ships perspective model is divided into 6 parts, is respectively left front portion, right front portion, left portion, right middle, left back portion and right back portion, according to pitch angular and the roll angle structure fluoroscopy images of boats and ships;
When roll angle be 0 ° and ﹣ 29 °≤pitch angular < 0 ° time, the left front portion of boats and ships perspective model, right front portion are filled red, obtain boats and ships and to lean forward attitude fluoroscopy images;
When roll angle be 0 ° and 0 ° of < pitch angular≤29 ° time, the left back portion of boats and ships perspective model and right back portion are filled red, obtain boats and ships hypsokinesis attitude fluoroscopy images;
When pitch angular be 0 ° and ﹣ 29 °≤roll angle < 0 ° time, the right front portion of boats and ships perspective model, right middle and right back portion are filled red, obtain boats and ships Right deviation attitude fluoroscopy images;
When pitch angular be 0 ° and 0 ° of < roll angle≤29 ° time, the left front portion of boats and ships perspective model, left portion and left back portion are filled red, obtain the left-leaning attitude fluoroscopy images of boats and ships;
As ﹣ 29 °≤roll angle < 0 ° and ﹣ 29 °≤pitch angular < 0 ° time, the right front portion of boats and ships perspective model is filled red, obtains the right front attitude fluoroscopy images that inclines of boats and ships;
As ﹣ 29 °≤roll angle < 0 ° and 0 ° of < pitch angular≤29 ° time, the right back portion of boats and ships perspective model is filled red, obtains the right back attitude fluoroscopy images that inclines of boats and ships;
When 0 ° of < roll angle≤29 ° and ﹣ 29 °≤pitch angular < 0 ° time, the left front portion of boats and ships perspective model is filled red, obtains the left front attitude fluoroscopy images that inclines of boats and ships;
When 0 ° of < roll angle≤29 ° and 0 ° of < pitch angular≤29 ° time, the left back portion of boats and ships perspective model is filled red, obtains 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 reduce formation by a certain percentage.
As preferably, also comprise the steps:
(4-1) build a compass background image in a computer in advance, be stored in the hard disk of computing machine;
(4-2) computing machine reads boats and ships fluoroscopy images, according to the screen size adjustment image scaled of touch-screen, boats and ships picture centre is overlapped with screen center, is shown by compass background image in screen;
(4-3) with compass background image center for initial point build part plan system of axes (X-Y), along screen from left to right direction be Y-axis, along screen from the bottom up direction be X-axis;
(4-4) according to geographical north course angle, boats and ships fluoroscopy images is rotated respective angles to Y-axis, above boats and ships fluoroscopy images, show geographical north course angle data simultaneously;
(4-5) when receiving new geographical north course angle data, according to new geographical north course angle data, again boats and ships fluoroscopy images is rotated respective angles to Y-axis, above boats and ships fluoroscopy images, show geographical north course angle data simultaneously.
As preferably, also comprise the steps:
Computing machine, according to current attitude of ship data, judges whether boats and ships exceed default pitch angle and roll angle scope; When at least 1 in the pitch angle and roll angle of boats and ships is not in preset range, display alarm information in touch-screen.
As preferably, the scope of pitch angle is ﹣ 29 ° to 29 °.
As preferably, the scope ﹣ of roll angle 29 ° to 29 °.
Therefore, the present invention has following beneficial effect: the data that (1) is measured are more accurate; (2) data measured more comprehensively; (3) attitude of ship can be shown in real time, for ship's navigation, handling goods and approaching etc. provides safe support; (4) electronic compass can be used for course display, also normally can work, further increase the safety and reliability of ship's navigation when device run-off the straight.
Accompanying drawing explanation
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 schematic diagram of the present invention.
In figure: first microprocessor 1, global positioning system 2, three axle geomagnetic sensor 3, gyroscope 4, acceleration pick-up 5, computing machine 6, touch-screen 7.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
Embodiment is as shown in Figure 1 a kind of control method of Ship attitude display device, the touch-screen 7 that described Ship attitude display device comprises first microprocessor 1 and global positioning system 2, the three axle geomagnetic sensor 3 be connected with first microprocessor respectively, three-axis gyroscope 4,3-axis acceleration sensor 5, computing machine 6 and is electrically connected with computing machine; First microprocessor is electrically connected with computing machine;
As shown in Figure 2 and Figure 3, comprise the steps:
Step 100, build boats and ships perspective model in advance in a computer, boats and ships perspective model is divided into 6 parts, is respectively left front portion, right front portion, left portion, right middle, left back portion and right back portion, according to pitch angular and the roll angle structure boats and ships fluoroscopy images of boats and ships;
When roll angle be 0 ° and ﹣ 29 °≤pitch angular < 0 ° time, the left front portion of boats and ships perspective model, right front portion are filled red, obtain boats and ships and to lean forward attitude fluoroscopy images;
When roll angle be 0 ° and 0 ° of < pitch angular≤29 ° time, the left back portion of boats and ships perspective model and right back portion are filled red, obtain boats and ships hypsokinesis attitude fluoroscopy images;
When pitch angular be 0 ° and ﹣ 29 °≤roll angle < 0 ° time, the right front portion of boats and ships perspective model, right middle and right back portion are filled red, obtain boats and ships Right deviation attitude fluoroscopy images;
When pitch angular be 0 ° and 0 ° of < roll angle≤29 ° time, the left front portion of boats and ships perspective model, left portion and left back portion are filled red, obtain the left-leaning attitude fluoroscopy images of boats and ships;
As ﹣ 29 °≤roll angle < 0 ° and ﹣ 29 °≤pitch angular < 0 ° time, the right front portion of boats and ships perspective model is filled red, obtains the right front attitude fluoroscopy images that inclines of boats and ships;
As ﹣ 29 °≤roll angle < 0 ° and 0 ° of < pitch angular≤29 ° time, the right back portion of boats and ships perspective model is filled red, obtains the right back attitude fluoroscopy images that inclines of boats and ships;
When 0 ° of < roll angle≤29 ° and ﹣ 29 °≤pitch angular < 0 ° time, the left front portion of boats and ships perspective model is filled red, obtains the left front attitude fluoroscopy images that inclines of boats and ships;
When 0 ° of < roll angle≤29 ° and 0 ° of < pitch angular≤29 ° time, the left back portion of boats and ships perspective model is filled red, obtains the left back attitude fluoroscopy images that inclines of boats and ships.
By 8 kinds of attitude of ship fluoroscopy images and corresponding thereto one group of query argument be made up of pitch angle and roll angle be stored in the second register of computing machine; The scope setting pitch angle and roll angle in advance is in a computer ﹣ 29 ° to 29 °; When one or two angle value in pitch angle and roll angle is not in the scope of ﹣ 29 ° to 29 °, touch-screen display alarm information; Build a compass background image in a computer in advance, be stored in the hard disk in computing machine;
Step 200, first microprocessor, global positioning system, three axle geomagnetic sensors, gyroscope, acceleration pick-up, computing machine and touch-screen are started working;
Step 300, supposes, global positioning system obtains the longitude and latitude data of current location A: longitude: 120.1997 latitudes: 30.2176.Be transferred to by location data information in first microprocessor, the location data information received is stored in the first register of first microprocessor by first microprocessor;
Step 400, after first microprocessor receives location data information, first microprocessor starts the geomagnetic field intensity (H processing the detection of geomagnetic sensor, three-axis gyroscope and 3-axis acceleration sensor
x, H
y, H
z), cireular frequency (g
x, g
y, g
z) and linear acceleration (a
x, a
y, a
z) data, obtain the course angle of hull, pitch angle and roll angle data;
When using three-axis gyroscope and 3-axis acceleration sensor take off data herein, the accekeration of three axles in accelerometer measures three-dimensional coordinate; The magnitude of angular velocity that gyroscope survey rotates along three axles, merges the two system of axes;
Spend in journey in measurement boats and ships attitude angle, accurately and in real time obtaining the attitude angle of boats and ships, is the key of whole system.Although electric system sensor just can carry out attitude angle measurement separately, but its accuracy depends primarily on the precision of inertia device, single from improving Design of Hardware Architecture and process aspect is difficult to be greatly improved, and systematic error can accumulate in time, be not suitable for the determination of long-time attitude of carrier.So, use single-sensor to be difficult to obtain relatively real attitude angle.For the consideration to attitude angle measurement accuracy, adopt the method for multiple sensor signals being carried out to fusion treatment, obtain optimum attitude angle.
Adopt the method for single order complementary filter to carry out signal fused process herein, obtain optimum attitude angle.It is advantageous that calculated amount is less, may operate in small microprocessors, ensure the real-time of data simultaneously.
First record the static drift value Gry_offset_X of gyroscope X-axis, method of measurement is: by reading time static for gyroscope sensitive axes horizontal positioned, is level, vertical, inversion herein, gets zero offset value 1024 times respectively, obtain result as aviation value:
Gry_offset_X = 45。
In like manner, the static drift value Gry_offset_Y of gyroscope X-axis is recorded:
Gry_offset_Y = 271。
By inquiry official databook computing gyroscope ratio value Gyr_Gain:
Gyr_Gain = 1/131 = 0.00763。
Accelerometer ratio value ACC_Gain is calculated by inquiry official databook:
ACC_Gain = 1/16384 = 0.000061。
Setting single order complementary filter weight value K_x=0.715; K_y=1.3.
Read six axle readings; Angular velocity data (gyro data) reading is respectively: 7,62,80; 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;
Therefore Y_Accelerometer=0.277794
According to accelerometer readings, the observed reading of Z axis is converted to acceleration/accel (g):
Z_Accelerometer = a
z* ACC_Gain;
Therefore 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;
Therefore X_Accelerometer=0.518317
The angle value angleA_X relative to Z-X face is obtained by accelerograph:
angleA_X= arctan(Y_Accelerometer/ Z_Accelerometer)* (180)/ π;
Therefore angleA_X=1088.068 °
The angle value angleA_Y relative to Z-Y face is obtained by accelerograph:
angleA_Y= arctan(X_Accelerometer/ Z_Accelerometer)* (180)/ π;
Therefore angleA_Y=1873.848 °
Gyroscope X-axis is by the cireular frequency reading after Static error correction:
g
x_revised = g
x+ Gry_offset_X;
Therefore g
x_ revised=52;
Gyroscope Y-axis is by the cireular frequency reading after Static error correction:
g
y_revised = g
y+ Gry_offset_Y;
Therefore g
y_ revised=333
The revised cireular frequency reading of gyroscope X-axis is converted to cireular frequency forward (°/s):
omega_X= Gyr_Gain* g
x_revised;
Therefore omega_X=0.39676 (°/s)
The revised cireular frequency reading of gyroscope Y-axis is converted to cireular frequency forward (°/s):
omega_Y= Gyr_Gain* g
y_revised; 2.54079
Therefore omega_Y=2.54079 (°/s)
The differential value dt of computing time:
Dt=current time-sampling time last time; (unit: second)
Arrange gyroscope, the rate of replacement of accelerometer is 50hz, the sampling interval is 0.02s.
dt = 0.02s。
The calculating angle calculated by gyroscope X-axis:
The angle of gyroscope X-axis within the sampling time:
angle_dt_X = omega_X * dt;
Therefore angle_dt_X=0.0079352 °
The angular speed calculation angle calculated by gyroscope Y-axis:
The angle of gyroscope Y-axis within the sampling time:
angle_dt_Y = omega_Y * dt; 0.0508158
Therefore angle_dt_Y=0.0508158 °
Start 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;
Due to 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 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 obtained and the value of roll angle:
Pitch angle: angle_X=15.24 °, roll angle: angle_Y=28.16 °.
Geomagnetic data Hx, Hy, Hz reading is respectively: 30 ,-236 ,-447;
Use following formula by the observed reading of magnetoresistive transducer from carrier projecting to ground level,
by
, obtain course angle
=57.70 °
So far, pitch angle, roll angle and course angle data are obtained.
Current angle_X=15.24 °, angle_Y=28.16 °,-29 ° of < angle_X < 29 ° ,-29 ° < angle_Y < 29 °, therefore boats and ships do not exceed default pitch angle and roll angle scope;
When pitch angle angle_X=45 °, roll angle angle_Y=20 °; Display alarm information on touch-screen.
Step 500, first microprocessor carries out the calculating of geographical north course angle, first microprocessor by the geographical north course angle of hull, pitch angle and roll angle data transmission to computing machine;
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, and represent the central value in city, 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 point B is (LonB, LatB), according to the benchmark of 0 degree of warp, east longitude degree of learning from else's experience on the occasion of (Longitude), west longitude degree of learning from else's experience negative value (-Longitude), north latitude gets 90-latitude value (90-Latitude), south latitude gets 90+ latitude value (90+Latitude), 2 then after above-mentioned process are counted as (MLonA, MLatA) and (MLonB, MLatB).
By formula, known point-to-point transmission is at a distance of 8.581km.
By the longitude and latitude data of A point compared with other point, select with A point at a distance of nearest city, and this urban information is stored.(such as:, then will represent the value storage in Hangzhou in treater memory module herein from Hangzhou recently), after 2 hours, carries out calculating with current at a distance of nearest city according to the locating data of global positioning system again.
Computing machine adopts look-up method to obtain the city magnetic inclination data stored in a storage module, Hangzhou: magnetic inclination 4.4 ° (W), to the west.According to magnetic inclination data, geographical north course angle is
=
+
α, therefore its geographical north course angle is:
= 57.70°+ 4.4°= 62.1 °
Step 600, user submits the request of reading boats and ships fluoroscopy images to computing machine by touch-screen; Computing machine is according to current pitch angle and the corresponding boats and ships fluoroscopy images of roll angle data query; Boats and ships image shows in touch-screen;
Step 700, touch-screen is provided with storage key, reads key or data run-out key,
When within the time of 5 seconds, computing machine does not receive any request, and global positioning system obtains locating data again, and system restarts the measurement of new round course angle, pitch angle and roll angle;
When user have submitted storage resource request, computing machine by current course angle, pitch angle and roll angle data stored in the hard disk of computing machine;
When user have submitted read requests, computing machine reads the course angle, pitch angle and the roll angle data that are stored in hard disk, and is shown by touch-screen;
Export request when user have submitted data, computing machine carries out data output by data-out port;
Step 800, after position of ship change, computing machine, according to the request of the new roll angle received and pitch angle and user, is inquired about corresponding boats and ships fluoroscopy images, and is shown by touch-screen by image.
Step 900, computing machine reads boats and ships fluoroscopy images, according to the screen size adjustment image scaled of touch-screen, boats and ships picture centre is overlapped with screen center, is shown by compass background image in screen;
With compass background image center for initial point build part plan system of axes (X-Y), along screen from left to right direction be Y-axis, along screen from the bottom up direction be X-axis;
Step 900, according to geographical north course angle
=62.1 °, by boats and ships fluoroscopy images edge to Y direction clickwise 62.1 °, above boats and ships fluoroscopy images, show current course angle is 62.1 ° simultaneously;
When receiving new geographical north course angle data, according to new geographical north course angle data, again boats and ships fluoroscopy images is rotated respective angles to Y-axis, above image, show course angle data simultaneously.
Should be understood that the present embodiment is only not used in for illustration of the present invention to limit the scope of the invention.In addition should be understood that those skilled in the art can make various changes or modifications the present invention, and these equivalent form of values fall within the application's appended claims limited range equally after the content of having read the present invention's instruction.
Claims (6)
1. a control method for Ship attitude display device, the touch-screen (7) that described Ship attitude display device comprises first microprocessor (1) and the global positioning system (2) be connected with first microprocessor respectively, three axle geomagnetic sensors (3), three-axis gyroscope (4), 3-axis acceleration sensor (5), computing machine (6) and is electrically connected with computing machine; First microprocessor is electrically connected with computing machine; It is characterized in that, comprise the steps:
(1-1) build boats and ships perspective models in advance in a computer, and obtain several boats and ships fluoroscopy images according to roll angle and pitch angular and boats and ships perspective model; Often kind of attitude of ship fluoroscopy images and one group of query argument be made up of pitch angle and roll angle are corresponding thereto stored in the hard disk of computing machine; Preset the scope of pitch angle and roll angle in a computer;
(1-2) first microprocessor, global positioning system, three axle geomagnetic sensors, gyroscope, acceleration pick-up, computing machine and touch-screen are started working;
(1-3) global positioning system obtains the location data information of current location, and is transferred in first microprocessor by location data information, and the location data information received is stored in the first register of first microprocessor by first microprocessor;
(1-4) after first microprocessor receives location data information, first microprocessor starts the data processing geomagnetic field intensity, cireular frequency and linear acceleration that three axle geomagnetic sensors, three-axis gyroscope and 3-axis acceleration sensor detect, obtains the course angle of hull, pitch angle and roll angle data;
(1-5) first microprocessor carries out the calculating of geographical north course angle, first microprocessor by the geographical north course angle of hull, pitch angle and roll angle data transmission in computing machine;
(1-6) user submits the request of reading boats and ships fluoroscopy images to computing machine by touch-screen; Computing machine is according to current pitch angle and the corresponding boats and ships fluoroscopy images of roll angle data query; 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 within the regular hour, computing machine does not receive any request, and global positioning system obtains locating data again, and system restarts the calculating of new round course angle, pitch angle and roll angle;
When user have submitted storage resource request, computing machine by current course angle, pitch angle and roll angle data stored in the hard disk of computing machine;
When user have submitted read requests, computing machine reads the course angle, pitch angle and the roll angle data that are stored in hard disk, and is shown by touch-screen;
Export request when user have submitted data, computing machine carries out data output by the data-out port be located on computing machine;
(1-8), after position of ship change, computing machine, according to the request of the new roll angle received and pitch angle and user, is inquired about corresponding boats and ships fluoroscopy images, and is shown by touch-screen by image;
Described step (1-1) also comprises the steps:
Boats and ships perspective model is divided into 6 parts, is respectively left front portion, right front portion, left portion, right middle, left back portion and right back portion, according to pitch angular and the roll angle structure fluoroscopy images of boats and ships;
When roll angle be 0 ° and ﹣ 29 °≤pitch angular < 0 ° time, the left front portion of boats and ships perspective model, right front portion are filled red, obtain boats and ships and to lean forward attitude fluoroscopy images;
When roll angle be 0 ° and 0 ° of < pitch angular≤29 ° time, the left back portion of boats and ships perspective model and right back portion are filled red, obtain boats and ships hypsokinesis attitude fluoroscopy images;
When pitch angular be 0 ° and ﹣ 29 °≤roll angle < 0 ° time, the right front portion of boats and ships perspective model, right middle and right back portion are filled red, obtain boats and ships Right deviation attitude fluoroscopy images;
When pitch angular be 0 ° and 0 ° of < roll angle≤29 ° time, the left front portion of boats and ships perspective model, left portion and left back portion are filled red, obtain the left-leaning attitude fluoroscopy images of boats and ships;
As ﹣ 29 °≤roll angle < 0 ° and ﹣ 29 °≤pitch angular < 0 ° time, the right front portion of boats and ships perspective model is filled red, obtains the right front attitude fluoroscopy images that inclines of boats and ships;
As ﹣ 29 °≤roll angle < 0 ° and 0 ° of < pitch angular≤29 ° time, the right back portion of boats and ships perspective model is filled red, obtains the right back attitude fluoroscopy images that inclines of boats and ships;
When 0 ° of < roll angle≤29 ° and ﹣ 29 °≤pitch angular < 0 ° time, the left front portion of boats and ships perspective model is filled red, obtains the left front attitude fluoroscopy images that inclines of boats and ships;
When 0 ° of < roll angle≤29 ° and 0 ° of < pitch angular≤29 ° time, the left back portion of boats and ships perspective model is filled red, obtains the left back attitude fluoroscopy images that inclines of boats and ships.
2. the control method of a kind of Ship attitude display device according to claim 1, is characterized in that, described boats and ships fluoroscopy images is the image that current boats and ships reduce formation by a certain percentage.
3. the control method of a kind of Ship attitude display device according to claim 1, is characterized in that, also comprise the steps:
(3-1) build a compass background image in a computer in advance, be stored in the hard disk of computing machine;
(3-2) computing machine reads boats and ships fluoroscopy images, according to the screen size adjustment image scaled of touch-screen, boats and ships picture centre is overlapped with screen center, is shown by compass background image in screen;
(3-3) with compass background image center for initial point build part plan system of axes (X-Y), along screen from left to right direction be Y-axis, along screen from the bottom up direction be X-axis;
(3-4) according to geographical north course angle, boats and ships fluoroscopy images is rotated respective angles to Y-axis, above boats and ships fluoroscopy images, show geographical north course angle data simultaneously;
(3-5) when receiving new geographical north course angle data, according to new geographical north course angle data, again boats and ships fluoroscopy images is rotated respective angles to Y-axis, above boats and ships fluoroscopy images, show geographical north course angle data simultaneously.
4. the control method of a kind of Ship attitude display device according to claim 3, is characterized in that, also comprise the steps:
Computing machine, according to current attitude of ship data, judges whether boats and ships exceed default pitch angle and roll angle scope; When at least 1 in the pitch angle and roll angle of boats and ships is not in preset range, display alarm information in touch-screen.
5. the control method of a kind of Ship attitude display device according to claim 1 or 2 or 3 or 4, the scope of pitch angle is ﹣ 29 ° to 29 °.
6. the control method of a kind of Ship attitude display device according to claim 1 or 2 or 3 or 4, is characterized in that, the scope ﹣ of roll angle 29 ° to 29 °.
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| US20190278450A1 (en) * | 2016-11-21 | 2019-09-12 | Shenzhen Royole Technologies Co., Ltd. | Electronic device and method for controlling display thereof |
| CN112776953A (en) * | 2020-12-24 | 2021-05-11 | 雪桥智能科技(上海)有限公司 | Ship transverse and longitudinal inclination display system |
| CN113120187A (en) * | 2021-05-17 | 2021-07-16 | 山东新一代信息产业技术研究院有限公司 | Cargo loading and positioning method for semi-submersible ship |
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| US8005635B2 (en) * | 2007-08-14 | 2011-08-23 | Ching-Fang Lin | Self-calibrated azimuth and attitude accuracy enhancing method and system (SAAAEMS) |
| CN102313543B (en) * | 2011-07-11 | 2013-07-17 | 上海大学 | Magnetic azimuth measuring system based on giant magneto-resistance sensor, measurement method and perpendicular compensation method |
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