CN103900609B - The course precision real-time detecting system of a kind of marine aided inertial navigation system and detection method - Google Patents
The course precision real-time detecting system of a kind of marine aided inertial navigation system and detection method Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The present invention provides a kind of marine Inertial navigator course precision real-time detecting system and method.Native system includes: boats and ships DGPS unit 1, electro-optic theodolite unit 2, attitude information interface unit 3, target unit 4, data acquisition process unit 5 etc..Boats and ships DGPS unit 1 is used for ensureing time synchronized, and obtains electro-optic theodolite unit 2 and the precise position information of target unit 4；Electro-optic theodolite unit 2 and target unit 4 are used for measuring boats and ships angle on the bow；Attitude information interface unit 3 can obtain attitude of ship course information, is resolved by data acquisition process unit 5 and obtains Ship Inertial Navigation System equipment course precision.The device and method that the present invention provides can realize course precision and measure in real time, reduces dynamic course measure of precision error, and improves the certainty of measurement of electro-optic theodolite.
Description
Technical field
The present invention relates to navigation instrument performance detection field, be specifically related to the dynamic course precision inspection of a kind of marine Inertial navigator
Examining system and detection method.
Background technology
Inertial navigation is based on newton principle of inertia, utilizes inertance element (gyroscope, accelerometer) to measure carrier itself
Angular velocity, acceleration, obtain attitude (course angle, roll angle, pitch angle), speed and position through integration and computing, from
And reach carrier is determined the purpose of appearance and navigator fix.The equipment of composition inertial navigation system is all arranged in carrier, work
It is independent of external information, the most outwardly emittance, is not easily susceptible to interference, be a kind of autonomic navigation system.
After inertial navigation set is installed in carrier base, there is fix error angle, need to carry out alignment error correction, therefore must
The initial navigator installed must be carried out course accuracy detection.
Land quiescent levels, the high-acruracy survey in orientation for optical fiber inertial navigation equipment are easier, and dynamic for sea
Under the conditions of high-acruracy survey the most extremely difficult.The platform compass accuracy checking method taked during existing mooring sea trial,
Although meeting related request and the ship's navigation test specification requirement of national military standard, but by technical guarantee conditionality at that time, drawn
National military standard measuring method can only ensure the relative accuracy in course (i.e. bow to), completely by being accomplished manually data in test process
Gather, inefficient.The most existing accuracy checking method can not fully meet main battle weapon system and want the high accuracy of true heading
Ask.The dynamic high precision detection of inertial navigation set output parameter has become the bottleneck of inertial navigation set test, becomes test mirror
Fixed key.
Summary of the invention
It is an object of the invention to provide a kind of under boats and ships vibrating state, accurately measure the course angle of boats and ships, it is possible to the most defeated
Go out the course angle of boats and ships, utilize this measured value can correct the marine Inertial of precision of marine Inertial navigator course angle output valve
The dynamic course precision detection system of navigator, the present invention also aims to provide the dynamic of a kind of marine Inertial navigator
Course accuracy checking method.
The object of the present invention is achieved like this:
The present invention includes: boats and ships DGPS unit 1, electro-optic theodolite unit 2, attitude information interface unit 3,
Target unit 4 and data acquisition process unit 5；Boats and ships DGPS unit 1 is used for ensureing all lists of detecting system
The time synchronized of unit, and obtain electro-optic theodolite unit 2 and the precise position information of target unit 4, transmit to data acquisition
Reason unit 5；Electro-optic theodolite unit 2 and target unit 4, the time receiving the offer of boats and ships DGPS unit 1 is same
Step signal, is used for measuring boats and ships angle on the bow, and transmits collection data to data acquisition process unit 5；Attitude information interface unit 3,
Receiving the time synchronizing signal that boats and ships DGPS unit 1 provides, can obtain attitude of ship course information, transmission is extremely
Data acquisition process unit 5；System is processed by data acquisition process unit 5 and obtains Ship Inertial Navigation System equipment course precision；
Involved electro-optic theodolite unit 2, including gyrostabilization unit 6, it is seen that photoimaging systems 7, image tracker 8,
Main control computer 9, frame 10, servo-control system 11 and DGPS reception antenna 12；Visual light imaging system
System 7 and DGPS reception antenna 12 are installed in frame 10, and frame 10 is installed on gyrostabilization unit 6,
The optical axis of electro-optic theodolite and the motion of warship body are isolated；；Visible imaging system outputs signal to image tracker 8, then passes
Transport to main control computer 9；Main control computer 9 sends instruction and acts on servo-control system 11, servo-control system 11 output control
Signal processed controls gyrostabilization unit 6；Target real-time tracking is carried out by Visible imaging system 7 and image tracker 8；
Involved target unit 4, including: target pallet 13, logo antenna 14, DGPS module 15 and
Wireless radio transmission module 16；Logo antenna 14, DGPS module 15 are installed on target pallet 13 top, wireless
Electrical transmission module 16 is installed on target pallet 13 near apical position.
The course precision real-time detection method of a kind of marine aided inertial navigation system, comprises the following steps:
Step one, utilize boats and ships DGPS unit 1 to carry out the time synchronized of unit, and obtain photoelectricity longitude and latitude
Instrument unit 2 position coordinates and target unit 4 position coordinates, can try to achieve the geodetic azimuth of point-to-point transmission by geodetic azimuth method
A；
Involved geodetic azimuth A electro-optic theodolite unit 2 position, target unit 4 position line and geographical north are to angle；
Step 2, utilizing electro-optic theodolite unit 2 real-time tracking target unit 4, obtain in boats and ships carrier coordinate system is big local
Parallactic angle A and target angle on the bow q, and it is calculated observation course angle H；
The expression formula of involved observation course angle H:
H=A-q
Step 3, according to course angle H measured by the inertial navigation equipment of attitude information interface unit 4 synchronism outputp, in data acquisition
Processing unit 5 resolves, available course deviation Δ H；
The expression formula of involved course deviation Δ H:
Δ H=Hp-H
The beneficial effects of the present invention is, comprehensively employ geodesic survey, photoelectric tracking, inertial measurement method, can be at boats and ships
Record heading angle deviation under vibrating state in real time, solve optical gauge boats and ships be in mooring or pull in shore transport condition time
The problem that measurement error is bigger, and combine inertial navigation set and export heading angle deviation in real time, course angle accuracy testing provides more
Data support reliably.
Accompanying drawing explanation
Fig. 1 is that present system totally constitutes schematic diagram.
Fig. 2 is that electro-optic theodolite unit constitutes schematic diagram.
Fig. 3 is electro-optic theodolite unit basic structure schematic diagram.
Fig. 4 is target unit basic structure schematic diagram.
Fig. 5 is geodetic azimuth and course and the relation of angle on the bow.
Fig. 6 is system mounting location simple diagram.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described further.
Reference: 1 boats and ships DGPS unit, 2 electro-optic theodolite unit, 3 attitude information interface units, 4 target unit,
5 data acquisition process unit；6 gyrostabilization units, 7 Visible imaging systems, 8 image tracker, 9 main control computers,
10 electro-optic theodolite frames, 11 servo-control systems, 12 boats and ships DGPS antennas；13 target unit pallets, 14 targets
Logo antenna, 15 wireless radio transmission modules, 16DGPS module；17 represent boats and ships fore and aft line, and 18 represent electro-optic theodolite list
Unit, 19 electronic equipment cabinet (servo-control system 11 circuit board containing electro-optic theodolite unit 2 and main control computer 9 circuit board,
Boats and ships DGPS unit 1, and data acquisition process unit 5), 20 marine navigation equipment (containing attitude information interface unit 3),
4 target unit, the plane mirror of 21 correction electro-optic theodolite initial zero position.
The present invention devises a kind of MARINE DYNAMIC course precision real-time detecting system and method, can accurately measure and export ship in real time
The course angle of oceangoing ship, utilizes this measured value can correct marine Inertial navigator course angle output valve.System is monolithically fabricated schematic diagram
As shown in Figure 1.
Native system includes: boats and ships DGPS unit 1, electro-optic theodolite unit 2, target unit 4, attitude information interface unit 3,
Data acquisition process unit 5 grade is constituted.
Boats and ships DSPS unit 1: this unit is time reference and the accommodation benchmark of systematic survey.This module to electro-optic theodolite unit,
Data acquisition process unit, attitude information interface unit, target unit send 1PPS (1 pulse per second) pulse signal and
Comprise time (t) and boats and ships accommodationThe serial ports message of information.
Electro-optic theodolite unit: this unit passes through 1PPS signal synchronized sampling target angle on the bow in carrier coordinate system and elevation angle,
It is sent to data sampling processing unit, for resolving by serial line interface.This unit includes: gyrostabilization unit 6, it is seen that
Photoimaging systems 7, image tracker 8, main control computer 9, electro-optic theodolite frame 10, servo-control system 11 and DGPS
Antenna 12 part such as grade forms, and it constitutes schematic diagram as shown in Figure 2.Describe the basic knot of electro-optic theodolite unit 2 in figure 3
Structure, gyrostabilization unit 6 uses the rock-steady structure of two axle two-freedoms, in the motor process eliminating hull, wave, wind
The impact caused electro-optic theodolite Deng other disturbances, is isolated the optical axis of electro-optic theodolite and the motion of hull, makes photoelectricity warp
Latitude instrument is stable in fixing inertial space direction.Electro-optic theodolite frame 10 is carried, it is seen that photoimaging systems on gyro-stabilized platform
7 are installed on the pitch axis of frame, can form target signal pattern.Image tracker 8 uses center of gravity to follow the tracks of and correlation tracking is tied
The mode closed carries out drone tracking, and tracking information is passed to main control computer 9, will follow the tracks of required rotation information through calculating
Pass to servo-control system 11, adjust electro-optic theodolite frame 10, it is ensured that electro-optic theodolite real-time tracking target signal.Photoelectricity
Theodolite passes through optical instrument, by ship fore and aft line as zero reference, can realize target at carrier by real-time tracking target signal
Target angle on the bow and the real-time measurement of elevation angle in coordinate system.Ensure the course angle measured value of optical fiber theodolite output, at final number
Can be directed on a timeline with the measured value of inertial navigation set and DGPS system according in processing procedure, need to be arranged on frame
On pitch axis, the 1PPS signal of DGPS antenna 12 adds absolute time tag in data.
Attitude information interface unit 3: this unit utilizes 1PPS synchronizing signal that attitude of carrier information is (course angle, roll angle, vertical
Cradle angle) it is synchronized to data acquisition process unit 5, resolve for course angle and be used.The attitude information of this unit is mainly derived from boats and ships
Inertial navigation set.
Target unit 4: concrete structure figure as shown in Figure 4, including target pallet 13, logo antenna 14, DGPS module 16
And wireless radio transmission module 15.This unit provides an aiming point with accurate coordinates for electro-optic theodolite unit 2, and leads to
The wireless transport module 15 crossed in this unit will have the message transmissions of time and positional information to data sampling processing unit 5.Should
The precise time positional information of unit can be recorded by the DGPS module 16 installed in target unit.This unit need to stand still for a long while away from
Place between boats and ships 500m～1500m, such as bank, harbour, it is possible to build target list by fixing small boat at the water surface
Unit 4.
Data acquisition process unit 5: this unit passes through 1PPS signal synchronized sampling attitude information interface unit data 3, photoelectricity warp
The object height angle that latitude instrument unit 2 records and side of a ship angular data, and target accurate coordinates point data, calculate the true course of boats and ships.
Implement to measure detailed process as follows:
1. measure system equipment install and be connected
Firstly the need of carrying out system equipment installation, system mounting location simple diagram as shown in Figure 6, is installed on boats and ships fore and aft line 17
Electro-optic theodolite unit 18, wherein gyrostabilization unit 6, install electro-optic theodolite frame 10, light on gyrostabilization unit 6
Mounting shipping DGPS antenna 12 and Visible imaging system 7 in electro-theodolite set pitching frame.The SERVO CONTROL system of electro-optic theodolite
System 11 and main control computer 9 are placed on and are positioned at single electronic equipment cabinet 19.DSPS information sending module and data acquisition process
Unit is placed in this electronic equipment cabinet 19 equally.Attitude information interface is connected at 20 with the inertial navigation set of boats and ships itself.
Target unit 4 is arranged near bank, between distance boats and ships 500m～1000m, and arranges DGPS antenna on target, even
Connect wireless transport module, it is ensured that it is unobstructed with the information of data acquisition process unit.
2. electro-optic theodolite unit 2 leveling and the determination of initial zero position
Gyro-stabilized platform 6 is started working, and the optical axis of electro-optic theodolite and the motion of boats and ships is isolated, and i.e. ensures photoelectricity longitude and latitude
The horizontal positioned of instrument.Meanwhile, along the ship fore and aft line direction of boats and ships, an illuminator 21 is disposed, it is ensured that illuminator 21 normal level
And be on ship fore and aft line, regulate electro-optic theodolite, it is ensured that illuminator normal is directed at the line of vision of theodolite, confirm position alignment
After, i.e. can confirm that the zero reference direction of the ship fore and aft line direction electro-optic theodolite of boats and ships.
3. course angle error is measured in real time
Adjust electro-optic theodolite unit 18 direction, allow the Visible imaging system 7 on electro-optic theodolite frame pitch axis aim at target
Unit 4, forms target signal pattern.Image tracker 8 uses the mode that center of gravity is followed the tracks of and correlation tracking combines to carry out target
Follow the tracks of, and tracking information is passed to main control computer 9, through calculating, required for tracking rotation information is passed to SERVO CONTROL system
System 11, adjusts electro-optic theodolite frame 10, it is ensured that electro-optic theodolite real-time tracking target signal, at electro-optic theodolite zero reference
On the basis of setting up, electro-optic theodolite can be measured in real time and obtain target angle on the bow in carrier coordinate system and elevation angle.
Start the data acquisition process unit in 19, utilize boats and ships DSPS unit to electro-optic theodolite unit 18, target unit 4,
Data acquisition process unit in attitude information interface unit sends 1PPS (1 pulse per second) pulse signal and comprises the time
T the serial ports message of () and boats and ships accommodation (latitude, longitude) (B1, L1) information, owing to boats and ships DGPS antenna is installed on photoelectricity warp
On the pitch axis of latitude instrument frame 10, position information provided herein can regard the positional information of electro-optic theodolite as.
Electro-optic theodolite unit 18 passes through the 1PPS signal synchronized sampling target unit 4 angle on the bow q in carrier coordinate system and height
Angle, the data sampling processing unit 5 being sent in 19 by serial line interface.Target unit utilizes 1PPS signal by target unit
The position (B2, L2) of 4 and time (t) synchronizing information, by target unit carry wireless transport module 15 will have the time (t) and
The message transmissions of position (B2, L2) information gives the data sampling processing unit 5 in 19.Attitude information interface unit passes through 1PPS
Synchronizing signal, attitude of carrier (course angle, roll angle, the pitch angle) synchronizing information that boats and ships inertial navigation set measurement is obtained
To data acquisition process unit 5.Data acquisition process unit in 19 passes through 1PPS synchronizing signal, can will collect photoelectricity
Theodolite unit 18 position (B1, L1) information, target unit 4 position (B2,L2) information, the load of attitude information interface unit 20
Body attitude (course angle H, roll angle R, pitch angle P) information and the target unit 4 angle on the bow q in carrier coordinate system are carried out
Time synchronized, it is ensured that surveyed data time concordance, improves the accuracy of real-time measuring data output.
According to obtained data message, maintenance data acquisition process unit 5 calculates, and concrete computation rule is as follows:
If starting point P1 electro-optic theodolite unit coordinate (B1, L1), terminal P2 target unit coordinate (B2, L2), it is known that two positions
Coordinate, can try to achieve the geodetic azimuth A of point-to-point transmission, as shown in Figure 3 by geodetic azimuth method.Geodetic azimuth is owned by France in greatly
Common methods is measured on ground, and it will not go into details herein.
The system schematic of specific embodiment is as it is shown in figure 5, the level that OXY is carrier coordinate system represents, OY is ship bow stern
Line, P1 electro-optic theodolite frame at O point, N be geographical north to, P2 point is target unit；Q is that ship fore and aft line is to target unit
Angle on the bow, A is the geodetic azimuth recorded by P1, P2 point, and H is the Precision course direction angle that systematic survey obtains；
Elapsed time synchronizes the geodetic azimuth A and target angle on the bow q of the synchronization obtained, according to the angle drawn in Fig. 3
Graph of a relation, available course angle: H=A-q.
Course angle H measured by inertial navigation equipment according to the output of attitude information interface unitp, available course deviation angle:
Δ H=Hp-H。
Data acquisition process unit in electronic equipment cabinet 19 can be calculated boats and ships installation inertia after DGPS time synchronized and lead
The course deviation value of boat equipment, owing to this deviation value can be measured in real time, be calculated, therefore boats and ships are rocking or are traveling across
Journey can also accurately record course deviation angle and export.
Native system can apply to boats and ships when being in the kinestates such as mooring, at the uniform velocity direct route, the course exported in real time from detecting system
The size of the angle of deviation may determine that the precision of the inertial navigation set being installed on boats and ships.
Claims (2)
1. the course precision real-time detecting system of a marine aided inertial navigation system, it is characterised in that including: boats and ships difference global
Position system unit (1), electro-optic theodolite unit (2), attitude information interface unit (3), target unit (4) and data acquisition
Collection processing unit (5)；Boats and ships DGPS unit (1) are used for ensureing the time synchronized of all unit of detecting system,
And obtain electro-optic theodolite unit (2) and the precise position information of target unit (4), transmit to data acquisition process unit (5)；
Electro-optic theodolite unit (2) and target unit (4), the time that reception boats and ships DGPS unit (1) provides is same
Step signal, is used for measuring boats and ships angle on the bow, and transmits collection data to data acquisition process unit (5)；Attitude information interface unit
(3), receive the time synchronizing signal that boats and ships DGPS unit (1) provide, attitude of ship course information can be obtained,
Transmit to data acquisition process unit (5)；System is processed by data acquisition process unit (5) and obtains Ship Inertial Navigation System equipment course
Precision；
Described electro-optic theodolite unit (2), including gyrostabilization unit (6), it is seen that photoimaging systems (7), image trace
Device (8), main control computer (9), frame (10), servo-control system (11) and DGPS reception antenna (12)；
Visible imaging system (7) and DGPS reception antenna (12) are installed in frame (10), frame (10)
It is installed on gyrostabilization unit (6), the optical axis of electro-optic theodolite and the motion of warship body are isolated；Visible imaging system is defeated
Go out signal to image tracker (8), then transmit to main control computer (9)；Main control computer (9) sends instruction and acts on servo
Control system (11), servo-control system (11) output control signal controls gyrostabilization unit (6)；Pass through visual light imaging
System (7) and image tracker (8) carry out target real-time tracking；
Described target unit (4), including target pallet (13), logo antenna (14), DGPS module (15)
With wireless radio transmission module (16)；Logo antenna (14), DGPS module (15) are installed on target pallet (13)
Top, wireless radio transmission module (16) is installed on target pallet (13) near apical position.
2. the course precision real-time detection method of a marine aided inertial navigation system, it is characterised in that comprise the following steps:
Step one, utilize boats and ships DGPS unit (1) to carry out the time synchronized of unit, and obtain photoelectricity warp
Latitude instrument unit (2) position coordinates and target unit (4) position coordinates, try to achieve electro-optic theodolite list by geodetic azimuth method
Geodetic azimuth A between unit's (2) position coordinates and target unit (4) position coordinates；
Involved geodetic azimuth A electro-optic theodolite unit (2) position, target unit (4) position line and geographical north are to folder
Angle；
Step 2, utilizing electro-optic theodolite unit (2) real-time tracking target unit (4), obtain in boats and ships carrier coordinate system is big
Ground azimuth A and target angle on the bow q, and it is calculated observation course angle H；
The expression formula of involved observation course angle H is:
H=A-q
Step 3, according to course angle H measured by the inertial navigation equipment of attitude information interface unit (4) synchronism outputp, in data
Acquisition process unit resolves in (5), obtains course deviation Δ H；
The expression formula of involved course deviation Δ H is:
Δ H=Hp-H。
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