CN103411603B - Electric-field sensor posture position measuring method in ship electric field protection - Google Patents
Electric-field sensor posture position measuring method in ship electric field protection Download PDFInfo
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- CN103411603B CN103411603B CN201310308534.6A CN201310308534A CN103411603B CN 103411603 B CN103411603 B CN 103411603B CN 201310308534 A CN201310308534 A CN 201310308534A CN 103411603 B CN103411603 B CN 103411603B
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- measurement mechanism
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- field sensor
- accelerometer
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Abstract
The invention provides electric-field sensor posture position measuring method in the protection of a kind of ship electric field, concrete steps are: step one, design measurement mechanism, and this measurement mechanism and boats and ships electricity, magnetic field sensor are connected; Choose a support be made up of three mutually orthogonal poles, this support forms three-dimensional orthogonal coordinate system; The support of each coordinate axis positive dirction arranges an accelerometer, and each accelerometer sensitive axle overlaps with the coordinate axis residing for it; The support of each coordinate axis positive dirction is connected a gyroscope, and its each gyroscope sensitive axes is parallel with the coordinate axis that it is connected; Step 2, DATA REASONING; Step 3, data processing, obtain electricity, magnetic field sensor posture position; The present invention utilizes accelerometer and gyroscope can realize Measurement accuracy that is electric to boats and ships, magnetic field, and the method realizes, and measurement result is accurate, measures cost lower.
Description
Technical field
The invention belongs to electricity, guard technology field, magnetic field, be specifically related to survey sensor posture position measuring method in a kind of ship electric field guard technology.
Background technology
When needs are measured boats and ships protection electric field, such as, expection boats and ships can through a certain navigation channel, need under its navigation channel, to lay several electric field measurement equipment in advance, form electric field measurement array, each measuring equipment interval greatly about about 15 meters, to measure boats and ships electric field level.When outer warship leaves, then reclaim electric field measurement equipment.But, utilize this cover measuring method at present to there is two large problems:
Although 1. electric-field sensor can be laid in advance, but the electric-field sensor laid is being fallen in water-bed process from sea, undocking at ocean current, wave, cloth to jolt etc. under impact, and randomness of its motion is very large, cannot determine the accurate location of the electric-field sensor laid;
2. seabed is general and uneven, and the direction of an electric field recorded is difficult to determine.
Summary of the invention
In view of this, the invention provides electric-field sensor posture position measuring method in the protection of a kind of ship electric field, the method can go out ship electric field sensor attitude and position by rapid computations, and process is simple, and it is low to realize cost.
Realize technical scheme of the present invention as follows:
Electric-field sensor posture position measuring method in a kind of ship electric field protection, concrete steps are:
Step one, making measurement mechanism, this measurement mechanism and electric-field sensor are connected;
Described measurement mechanism comprises a support be made up of three mutually orthogonal poles, and this support forms three-dimensional orthogonal coordinate system; The support of each coordinate axis positive dirction arranges an accelerometer, and each accelerometer sensitive axle overlaps with the coordinate axis residing for it; The support of each coordinate axis positive dirction is connected a gyroscope, and its each gyroscope sensitive axes is parallel with the coordinate axis that it is connected;
Step 2, DATA REASONING;
First, by described measurement mechanism be placed in water, and keep motionless within the t time of presetting; Secondly, described measurement mechanism is pulled out the water surface rapidly; Again, when the described measurement mechanism pull-out water surface, GPS locating device is arranged on this measurement mechanism;
Performing the data that in data measuring process, Real-time Collection accelerometer, gyroscope and GPS generate;
Step 3, data processing, obtain electric-field sensor posture position;
Attitude Calculation: according to the attitude of the data calculating electric-field sensor that gyroscope and accelerometer generate;
Position calculation: gps data that generate based on GPS locating device, that represent measurement mechanism position, operation result gyroscope and accelerometer being exported to data carries out inverse operation, obtains the position of electric-field sensor.
The process of inverse operation of the present invention is:
Step 101, the position laid under water by measurement mechanism are set to initial point (0,0,0);
Step 102, the data generated according to gyroscope and accelerometer in measurement mechanism pull-out water surface process, when calculating the measurement mechanism pull-out water surface and install GPS, measurement mechanism is relative to the position (x, y, z) of initial point;
Step 103, position (xd, yd, zd) and described position (x, y that GPS locating device is measured, z) compare, obtain alternate position spike (△ x, △ y, △ z), described alternate position spike is the actual position that measurement mechanism lays under water, obtains the position of electric-field sensor according to this actual position.
Beneficial effect
The Measurement accuracy that the present invention utilizes accelerometer and gyroscope can realize electric-field sensor, its measurement result is accurate, measures cost lower.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of measurement mechanism of the present invention;
Motion path schematic diagram when Fig. 2 is the measurement mechanism of the present invention pull-out water surface.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
Electric-field sensor posture position measuring method in a kind of ship electric field protection of the present invention, the tested object of the method is ship electric field sensor, electric-field sensor measured in the present embodiment is positioned at one by three mutually orthogonal supports formed of pole, and concrete steps are:
Step one, making measurement mechanism, this measurement mechanism and the support residing for electric-field sensor are connected, thus ensure that electric-field sensor is relative with the position between measurement mechanism fixing; As shown in Figure 1, this measurement mechanism adopts following method design: choose support be made up of three mutually orthogonal poles, this support formation three-dimensional orthogonal coordinate system (namely forming a navigational coordinate system oxyz); The support of each coordinate axis positive dirction arranges an accelerometer, and each accelerometer sensitive axle overlaps with the coordinate axis residing for it; The support of each coordinate axis positive dirction is connected a gyroscope, and each gyroscope sensitive axes is parallel with the coordinate axis that it is connected.
Because this measurement mechanism and ship electric field sensor are connected, the position of both is determined relatively, therefore can go out the installation angle of each sensor in laboratory measurement, determine relative attitude and the position of electric-field sensor and measurement mechanism, as shown in phantom in Figure 1.Therefore, when knowing position and the attitude of measurement mechanism, position and the attitude of ship electric field sensor can just be known.
Each gyroscope can be made in the present embodiment to be fixed on support by fixed bar, each gyroscope also can be made to be directly installed on support.
Step 2, DATA REASONING;
As shown in Figure 2, first, by described measurement mechanism be placed in water, and keep motionless within the t time of presetting; Secondly, utilize the instrument such as surveying vessel, cable to reclaim this measurement mechanism rapidly, preferably within 2 minutes, this device is pulled out the water surface; Again, when the described measurement mechanism pull-out water surface, certain immediately Psudo-carrier phase DGPS locating device being arranged on this measurement mechanism is determined on position; Meanwhile, the data that in data measuring process, Real-time Collection accelerometer, gyroscope and GPS generate are being performed.
The default t time of the present invention is more than 10min, and this device can ensure that attitude measurement accuracy is better than 0.005 degree after keeping transfixion 10min, if keep rest time longer, then its attitude measurement accuracy is higher.
Step 3, data processing, obtain electric-field sensor posture position;
Attitude Calculation: according to the attitude of the data Ship ' electric-field sensor that gyroscope and accelerometer generate.
Attitude measurement principle: the present invention utilizes two horizontal accelerometers to measure the component of acceleration of gravity on coordinate axis ox and oy, thus determines the oxy plane of coordinate system and the angle of earth coordinates; Gyroscope survey rotational-angular velocity of the earth is utilized to determine the angle of this coordinate system (navigational coordinate system) and earth north orientation.Concrete computation process is the innovative point of prior art, non-invention, and its detailed schematic is with reference to the Initial Alignment Method of inertial navigation.
Position calculation: gps data that generate based on GPS locating device, that represent measurement mechanism position, operation result gyroscope and accelerometer being exported to data carries out inverse operation, obtains the position of ship electric field sensor.
Position measurement principle: in coordinate system oxyz, if the position that this measurement mechanism lays under water is (0,0,0) point, after initial alignment completes, can know the attitude that this measurement mechanism lays under water.After measurement task completes, in this device removal process, utilize strap inertial navigation algorithm, the position of arbitrfary point in coordinate system oxyz on its movement locus can be calculated, and last solution calculate the water outlet of this device after, GPS when installing this device at position (x, the y of coordinate system oxyz, z), the position of now resolving is all the position of the location point (i.e. coordinate origin (0,0,0)) that this measurement mechanism lays under water relative to reference point.Meanwhile, when after the water outlet of this device, GPS can provide the exact position of this device in earth coordinates (xd, yd, zd), and its error is in centimetre-sized.Utilize the position (xd of this device in earth coordinates, yd, position (the x calculated when zd) placing complete with GPS, y, z) compare, inverse operation is counter to release in this device removal process the position of arbitrfary point in earth coordinates on its movement locus, also instead can release this measurement mechanism and lay position when keeping stationary state under water in earth coordinates.
The process of inverse operation of the present invention is:
Step 101, the position laid under water by measurement mechanism are set to initial point (0,0,0);
Step 102, the data generated according to gyroscope and accelerometer in measurement mechanism pull-out water surface process, when calculating the measurement mechanism pull-out water surface and install GPS, measurement mechanism is relative to the position (x, y, z) of initial point;
Step 103, by GPS locating device measure, this measurement mechanism relative to the earth position (xd, yd, zd) with the position (x of this measurement mechanism relative to coordinate system (oxyz), y, z) compare, obtain alternate position spike (△ x, △ y, △ z), described alternate position spike be that described measurement mechanism lays under water, relative to the position of earth coordinates, according to the position of this position acquisition ship electric field sensor.
Errors in position measurement:
Suppose that the quartz accelerometer precision that this device is selected is 30 μ g, initial alignment 10 minutes, select U50 type lasergyro precision to be 0.01 °/h, Psudo-carrier phase DGPS error is 2cm, and reclaiming this setup time is 2 minutes.
Through investigation, learn that the experimental formula that the older generations sum up inertial navigation error is as follows from a large amount of engineering experience, the result of calculation time of this formula is more short more accurate, and after the time exceedes several hours, it is very large that the error of calculation can become.
Navigation error=Initial Alignment Error × move distance+(2 powers of accelerometer error × time)/2+(gyroscope zero partially × 3 powers of time)/6
General, accelerometer precision is 30 μ g, and initial alignment is after 10 minutes, and initial alignment attitude error is 0.005 degree
So:
Navigation error=0.005 × about 20 meter+(30 × 10
-6× 120
2)/2+(0.01/ (3600s) × 120
3)/6
=0.1+0.216+0.8
=1.116 meters
≈ 1 meter
If improve measuring accuracy, need to reduce the time of this device setting in motion to water outlet, if can control in one minute, then navigation error is:
Navigation error=0.005 × about 20 meter+(30 × 10
-6× 60
2)/2+(0.01/ (3600s) × 60
3)/6
=0.1+0.054+0.1
=0.254 meter
Selecting of device:
Accelerometer: select the quartz accelerometer being better than navigation level, this accelerometer manufacturing technology is ripe, and market product is more, and precision about selects 20 μ g ~ 30 μ g, this accuracy accelerometers about 2 ~ 30,000 yuan is only every, needs 3 altogether; The present invention also can select pendulous accelerometer.
Gyroscope: current popular lasergyro, such as can select U50 type lasergyro inexpensive on the market, precision is better than 0.01 °/h, every only about 120,000 yuan, needs three altogether.It should be noted that, investigation learns that U50 type lasergyro general precision is at 0.007 °/about h; The present invention also can select dynamically tuned gyro, DTG, fibre optic gyroscope, three float-type gyroscopes or electrostatic gyro.
Therefore the present invention is when expending less cost and being low, accurately can measure the position of ship electric field sensor.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. an electric-field sensor posture position measuring method in ship electric field protection, it is characterized in that, concrete steps are:
Step one, making measurement mechanism, this measurement mechanism and electric-field sensor are connected;
Described measurement mechanism comprises a support be made up of three mutually orthogonal poles, and this support forms three-dimensional orthogonal coordinate system; The support of each coordinate axis positive dirction arranges an accelerometer, and each accelerometer sensitive axle overlaps with the coordinate axis residing for it; The support of each coordinate axis positive dirction is connected a gyroscope, and each gyroscope sensitive axes is parallel with the coordinate axis that it is connected;
Step 2, DATA REASONING;
First, by described measurement mechanism be placed in water, and keep motionless within the default t time; Secondly, described measurement mechanism is pulled out the water surface rapidly; Again, when the described measurement mechanism pull-out water surface, GPS locating device is arranged on this measurement mechanism;
Performing the data that in data measuring process, Real-time Collection accelerometer, gyroscope and GPS generate;
Step 3, data processing, obtain electric-field sensor posture position;
Attitude Calculation: according to the attitude of the data calculating electric-field sensor that gyroscope and accelerometer generate;
Position calculation: gps data that generate based on GPS locating device, that represent measurement mechanism position, operation result gyroscope and accelerometer being exported to data carries out inverse operation, obtains the position of electric-field sensor;
The process of described inverse operation is:
Step 101, the position laid under water by measurement mechanism are set to initial point (0,0,0);
Step 102, the data generated according to gyroscope and accelerometer in measurement mechanism pull-out water surface process, calculate the measurement mechanism pull-out water surface, and when installing GPS, measurement mechanism is relative to the position (x, y, z) of initial point;
Step 103, GPS locating device is measured, measurement mechanism is relative to the position (xd of earth coordinates, yd, zd) with described position (x, y, z) compare, obtain alternate position spike (△ x, △ y, △ z), described alternate position spike be that measurement mechanism lays under water, relative to the position of earth coordinates, according to the position of this position acquisition ship electric field sensor.
2. according to claim 1 ship electric field protection in electric-field sensor posture position measuring method, it is characterized in that, the described default t time is more than 10min.
3. according to claim 1 ship electric field protection in electric-field sensor posture position measuring method, it is characterized in that, described accelerometer is quartz accelerometer or pendulous accelerometer.
4. according to claim 1 ship electric field protection in electric-field sensor posture position measuring method, it is characterized in that, described gyroscope is U50 type lasergyro, dynamically tuned gyro, DTG, fibre optic gyroscope, three float-type gyroscopes or electrostatic gyro.
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| CN105629081B (en) * | 2016-03-01 | 2019-10-25 | 成都华创电科信息技术有限公司 | Measure the method and device thereof of the electric field strength in strong electrical field |
| CN114688955B (en) * | 2022-03-02 | 2023-03-14 | 中国人民解放军海军工程大学 | Rapid cross positioning method for underwater electric field source |
| CN115983046B (en) * | 2023-02-27 | 2023-07-14 | 中交天津港湾工程研究院有限公司 | Underwater accurate docking method for predicting movement track of prefabricated structure |
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| CN101644759A (en) * | 2008-12-23 | 2010-02-10 | 中国科学院声学研究所 | Submarine object-locating system based on dualistic structure and locating method |
| CN101706284A (en) * | 2009-11-09 | 2010-05-12 | 哈尔滨工程大学 | Method for increasing position precision of optical fiber gyro strap-down inertial navigation system used by ship |
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Patent Citations (5)
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| JP2003279374A (en) * | 2002-03-22 | 2003-10-02 | Tech Res & Dev Inst Of Japan Def Agency | Method of detecting position of underwater sailing body |
| CN101644759A (en) * | 2008-12-23 | 2010-02-10 | 中国科学院声学研究所 | Submarine object-locating system based on dualistic structure and locating method |
| CN101706284A (en) * | 2009-11-09 | 2010-05-12 | 哈尔滨工程大学 | Method for increasing position precision of optical fiber gyro strap-down inertial navigation system used by ship |
| CN102042835A (en) * | 2010-11-05 | 2011-05-04 | 中国海洋大学 | Autonomous underwater vehicle combined navigation system |
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