CN105286759B - Cavity deformation resetting detection device and reset detection method based on inertial navigation system - Google Patents
Cavity deformation resetting detection device and reset detection method based on inertial navigation system Download PDFInfo
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- CN105286759B CN105286759B CN201510602710.6A CN201510602710A CN105286759B CN 105286759 B CN105286759 B CN 105286759B CN 201510602710 A CN201510602710 A CN 201510602710A CN 105286759 B CN105286759 B CN 105286759B
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Abstract
Cavity deformation resetting detection device and reset detection method based on inertial navigation system, are related to cavity deformation reset detection.Detection means is provided with cavity to be measured, 2 inertial nevigation apparatus, microprocessor, communication module and display device.Inertial nevigation apparatus is fixed on to the housing surface to be measured of motion, pass through the physical quantity variation on test chamber surface, the reset detection of inertial nevigation apparatus is divided into the initial measurement stage with restoring measuring phases, starting stage, inertial nevigation apparatus measures maximum, minimum value and the preset value of cavity physical parameter, calculates preset value and two ratios being most worth；Recovery phase, inertial nevigation apparatus measures maximum, minimum value and the anticipation value of cavity respective physical parameter, if on the equal proportion point of the difference of anticipation value preset value and maximum and minimum value, i.e., cavity sets back；Microprocessor is transferred to display device after obtaining inertial navigation measurement data, can in real-time monitored cavity motion process physical parameter change, if cavity is changed to predetermined condition, display device sends prompting.
Description
Technical field
The present invention relates to cavity deformation reset detection, filled more particularly, to the cavity deformation reset detection based on inertial navigation system
Put and reset detection method.
Background technology
Cavity reset detection is a key technology of medical treatment and industry, and having in clinical medicine and industrial production can not
The key effect doubted.According to certain rules the cavity of hypertonic the displacement of material in mechanical periodicity, chamber can be presented also can respective change.
In detection, processing and analysis different time chamber during material, material in chamber must be often set to be moved to same position, i.e. cavity hypertonic degree
It is identical, therefore cavity reset detection method will meet accurate accurate, the quickly requirement such as real-time.In medical applications, traditional solution
Certainly scheme is to allow patient to remember breath size, and not only efficiency is low for this, there is very big subjective uncertainty, lack normative, also
Leverage measurement effect；In commercial Application, traditional solution is Volume Changes when measuring cavity hypertonic, this
Method limitation is suitable only for the cavity that build is little and change is not violent than larger.In recent years, with the progress of mechanical technique,
Physics and mechanical means are applied to cavity reset detection gradually, the method for obvious cavity deformation can with effective detection, but
It but can not accurately detect also do not have real-time for fast-changing cavity for faint deformation.
The content of the invention
It is an object of the invention to for cavity reset detection above shortcomings, there is provided the cavity based on inertial navigation system
Deformation resetting detection device and reset detection method.
The cavity deformation resetting detection device based on inertial navigation system, provided with cavity to be measured, 2 inertial nevigation apparatus, Wei Chu
Manage device, communication module and display device；
2 inertial nevigation apparatus are fixed on housing surface to be measured, and 2 inertial nevigation apparatus are used to detect that the hypertonic of cavity to be measured to become
Change caused physical features changing value, the input of the output termination microprocessor of 2 inertial nevigation apparatus, the output of microprocessor
The input of communication module is terminated, the output end of communication module is obtained 2 inertial nevigation apparatus detections by wired or wireless way
Data be sent to display device.
The physical characteristic includes but is not limited to speed, angle, position etc..
Described 2 can be sequentially provided with signal conditioning circuit and data acquisition circuit between inertial nevigation apparatus and microprocessor, letter
The output end of input 2 inertial nevigation apparatus of termination of number modulate circuit, the output termination data acquisition circuit of signal conditioning circuit
Input, the input of the output termination microprocessor of data acquisition circuit.
The microprocessor can be using microprocessors such as single-chip microcomputer or ARM.
Cavity deformation reset detection method based on inertial navigation system, is resetted using the cavity deformation based on inertial navigation system
Detection means, the described method comprises the following steps：
Step 1：The inertial nevigation apparatus of housing surface physical characteristic will be measured, be fixed on the housing surface to be measured of motion, pass through
The physical quantity variation of housing surface to be measured is detected, the reset detection of inertial nevigation apparatus is divided into the initial measurement stage with restoring measurement rank
Section, initial measurement stage, inertial nevigation apparatus measures maximum, minimum value and the preset value of cavity physical parameter, calculates default
Value and two ratios being most worth；Restore measuring phases, inertial nevigation apparatus also measure the maximum of cavity respective physical parameter, minimum value and
Anticipation value, if on the equal proportion point of the difference of anticipation value preset value and maximum and minimum value, i.e., cavity sets back；
Step 2：Microprocessor is obtained after inertial navigation measurement data, can be real-time by being wirelessly or non-wirelessly transferred to display device
The change of physical parameter in cavity motion process is observed, if cavity is changed to predetermined condition, display device sends prompting.
The present invention can be obtained in location coordinate by measuring carrier in physical messages such as the acceleration of inertial reference system
In the information such as speed, yaw angle and position, realize the detection that cavity resets.It can efficiently solve in current cavity reset detection
The problem of discrimination is low, reliability is not high, error is larger etc..
Cavity deformation reset detection method based on inertial navigation system, its course of work is as follows：
By the influence of crust deformation for doing certain rule and moving cavity, in chamber material produce it is corresponding mobile, the change of cavity hypertonic with
The physical quantitys such as superficial velocity, angles and positions are closely bound up, therefore material sets back detection in chamber, switchs to housing surface thing
Manage the measurement of characteristic.Two inertial nevigation apparatus are invested into housing surface, the information such as speed, angles and positions becomes during record cavity motion
Change value.Inertial nevigation apparatus by measurement result by being wirelessly or non-wirelessly transferred to display device, can be in real-time monitored cavity motion process
The change of physical parameter, if cavity is changed to predetermined condition, display device sends prompting.
It is of the invention that there is advantages below compared with conventional cavity reset detection method：
Using the regular deformation of cavity with that can react to physical quantitys such as its superficial velocity, angles and positions, inertial nevigation apparatus leads to
Measurement is crossed in physical messages such as the acceleration of inertial reference system, speed, yaw angle and position in location coordinate can be obtained
The information such as put, realize the detection that cavity resets.Inertial nevigation apparatus has following major advantage：(1) because it is not dependent on outside any
Portion's information, not to the self-contained system of outside emittance, device is not influenceed by outside electromagnetic interference, safe and reliable；(2) may be used
The whole day stream whole world, the complete aerial, earth surface or even under water of temporally working in；(3) number such as position, speed, attitude angle can be provided
According to the information of abundant reflection cavity deformation.Meanwhile, inertial nevigation apparatus, using wirelessly or non-wirelessly communicating, can show in real time with real device
Show the degree of cavity deformation, when cavity recovers to original position, pointed out.This method can be efficiently solved when front cavity is multiple
The discrimination of position detecting method is low, reliability is not high, affected by environment big and can not meet the accurate, real-time of cavity reset detection
It is required that problem.
Cavity deformation reset detection method based on inertial navigation system, for the cavity of regular motion, inertial nevigation apparatus passes through
Carrier is measured in physical messages such as the acceleration of inertial reference system, speed, angle and position in location coordinate can be obtained
The information such as put, realize the detection that cavity resets.
In summary, the present invention proposes the cavity deformation reset detection method based on inertial navigation system, for regular motion
Cavity, its surface physics parameter is measured by inertial navigation, reach cavity reset detection purpose, current chamber can be efficiently solved
The problem of discrimination is low in body reset detection, reliability is not high, error is larger etc..
Brief description of the drawings
Fig. 1 is the system structure diagram of the embodiment of the present invention.
Fig. 2 is the Optimum Matching schematic diagram of the over-complete dictionary of atoms of the embodiment of the present invention.
Embodiment
The invention will be further described with accompanying drawing with reference to embodiments.
With reference to Fig. 1 and 2, the cavity deformation resetting detection device embodiment based on inertial navigation system provided with cavity 1 to be measured,
2 inertial nevigation apparatus 2, microprocessor 3, communication module 4 and display device 5.
2 inertial nevigation apparatus 2 are fixed on the surface of cavity 1 to be measured, and 2 inertial nevigation apparatus 2 are used for for detecting cavity 1 to be measured
The physical features changing value contracted caused by change, the input of the output termination microprocessor 3 of 2 inertial nevigation apparatus 2, microprocessor
3 output end connects the input of communication module 4, and the output end of communication module 4 is by wired or wireless way by 2 inertial nevigation apparatus
The data that 2 detections are obtained are sent to display device 5.
The physical characteristic includes but is not limited to speed, angle, position etc..
Signal conditioning circuit 21 and data acquisition circuit can be sequentially provided between 2 inertial nevigation apparatus 2 and microprocessor 3
22, the output end of input 2 inertial nevigation apparatus 2 of termination of signal conditioning circuit 21, the output terminating data of signal conditioning circuit 21
The input of Acquisition Circuit 22, the input of the output termination microprocessor 3 of data acquisition circuit 22.
In fig. 2, mark S1, S2, S3, S4 represents deformation 1, deformation 2, deformation 3, deformation 4 respectively.
The microprocessor can be using microprocessors such as single-chip microcomputer or ARM.
The present invention is mainly made up of four parts：(1) cavity to be measured, this is in the cavity with certain movement rule, cavity
Material by cavity influence of crust deformation, location also produces corresponding movement；(2) inertial nevigation apparatus, is fixed on housing surface, leads to
The change of measurement housing surface physical parameter is crossed, reset detection purpose is realized；(3) microprocessor；(4) display device, Ke Yiyu
Inertial nevigation apparatus is wirelessly or non-wirelessly communicated, and the changing condition of display cavity, if cavity is changed to predetermined condition, sends in real time
Prompting.
Cavity deformation reset detection method given below based on inertial navigation system, using the cavity based on inertial navigation system
Deformation resetting detection device, the described method comprises the following steps：
Step 1：The inertial nevigation apparatus of housing surface physical characteristic is measured, the housing surface of motion is fixed on, by detecting table
Face physical quantity variation.The reset detection of inertial nevigation apparatus is divided into the initial measurement stage with restoring measuring phases.Initial measurement rank
Section, inertial nevigation apparatus measures maximum, minimum value and the preset value of cavity physical parameter, calculates preset value and two ratios being most worth
Example；Measuring phases are restored, inertial nevigation apparatus also measures the maximum, minimum value and anticipation value of cavity respective physical parameter, anticipation value
If on the equal proportion point of the difference of preset value and maximum and minimum value, i.e., cavity sets back.
Step 2：The microprocessor such as single-chip microcomputer or ARM is obtained after inertial navigation measurement data, by being wirelessly or non-wirelessly transferred to
Display device, can in real-time monitored cavity motion process physical parameter change, if cavity is changed to predetermined condition, display dress
Put and send prompting, inertial navigation collection, process chambers deformation data and system communication processes are as shown in Figure 2.
The present invention is directed to the cavity of continuous deformation, the cavity such as thoracic cavity, abdominal cavity, it is proposed that a kind of accurate sensitive, light
Portable, the cavity reset detection means recorded in real time.Cavity causes the change of volume in hypertonic motion, causes material position in chamber
Movement is put, and this change in displacement has some cycles with the hypertonic of cavity.If cavity amplitude of variation is faint or excessive, become
When changing too fast frequency and severe external environment, the detection that sets back need to ensure less error, sensitive real-time, harsh ring
Effectively work is remained under border.Therefore the present invention proposes the deformed state using inertial nevigation apparatus test chamber spatially, cavity
, can be accurately and real when the information change value such as speed, angles and positions is equal with certain the moment numerical value recorded caused by contracting change
When give cavity reset prompting.
As shown in figure 1,1 be material in the cavity with certain movement rule, cavity by cavity influence of crust deformation, it is residing
Position also produces corresponding movement；2 be two inertial nevigation apparatus, is fixed on housing surface, can detect the change of cavity hypertonic caused
The information change value such as speed, angles and positions；3 be communication module, the data for being measured inertial navigation by wired or wireless way
Deliver to display device；4 be microprocessor, can control inertial navigation and communication module；5 be cavity deformation display device, with inertial nevigation apparatus
Wireless, wire communication can be carried out, the changing condition of display cavity, if cavity is changed to predetermined condition, sends prompting in real time.
By the influence of crust deformation for doing certain rule and moving cavity, in chamber material produce it is corresponding mobile, the change of cavity hypertonic with
The physical quantitys such as superficial velocity, angles and positions are closely bound up, therefore material sets back detection in chamber, switchs to housing surface thing
Manage the measurement of characteristic.Two inertial nevigation apparatus are invested into housing surface, the information such as speed, angles and positions becomes during record cavity motion
Change value.Inertial nevigation apparatus by measurement result by being wirelessly or non-wirelessly transferred to display device, can be in real-time monitored cavity motion process
The change of physical parameter, if cavity is changed to predetermined condition, display device sends prompting.
Cavity hypertonic change information is measured using inertial nevigation apparatus, initial measurement is carried out with restoring measurement two benches, it is determined that position
Put reset, and deformation on this basis.
Inertial nevigation apparatus is a kind of independent of external information, also not to the autonomous type space orientation system of outside emittance
System.The basic functional principle of inertial navigation be based on Newton mechanics law, by measuring acceleration of the carrier in inertial reference system,
It is integrated to the time, and it is transformed in location coordinate, it becomes possible to speed in location coordinate, partially is obtained
The boat information such as angle and position.Inertial nevigation apparatus is from the position of a known point according to the cavity deformation angle and speed calculation continuously measured
Go out the position of its subsequent point, thus can continuously measure the current location of the cavity of the characteristics of motion.Gyroscope in inertial nevigation apparatus
The measurement axle of accelerometer is set to stablize in the coordinate system and provide course and attitude angle for forming a navigational coordinate system；Plus
The acceleration that speedometer is used for measuring movable body obtains speed by the once integration to the time, and speed is passed through to the one of the time again
Secondary integration can obtain distance.
The reset detection of inertial nevigation apparatus is divided into the initial measurement stage with restoring measuring phases.In the initial measurement stage, it is used to
The maximum, minimum value and preset value of measurement device cavity physical parameter are led, preset value and two ratios being most worth is calculated；Restore
Measuring phases, inertial nevigation apparatus also measures the maximum, minimum value and anticipation value of cavity respective physical parameter, if anticipation value is default
On the equal proportion point of the difference of value and maximum and minimum value, i.e., cavity sets back.
This physical parameter is transferred to display device by inertial nevigation apparatus by wirelessly or non-wirelessly mode in real time, when cavity recovers pre-
If when in situ, display device makes prompting, and a shear deformation on this basis.
The present invention can measure small deformation, measurement range by the deformation of the real-time test chamber of inertial navigation, resolution capability height
Greatly, it can be surveyed to plastic deformation from elastic deformation, real-time is high, static and dynamic measurement can be carried out, measurement result is easy to transmission
With record, it is cheap, numerous in variety, be easy to selection and largely use.It can efficiently solve in current cavity reset detection
The problem of discrimination is low, reliability is not high, error is larger etc., this has very important significance in medical treatment and industrial all tools.
Claims (1)
1. the cavity deformation reset detection method based on inertial navigation system, it is characterised in that use the cavity deformation based on inertial navigation system
Resetting detection device, described device is provided with cavity to be measured, 2 inertial nevigation apparatus, microprocessor, communication module and display device；2
Inertial nevigation apparatus is fixed on housing surface to be measured, and 2 inertial nevigation apparatus are used for the physics for detecting that the hypertonic change of cavity to be measured is caused
Changing features value, the input of the output termination microprocessor of 2 inertial nevigation apparatus, the output end of microprocessor connects communication module
The data that 2 inertial nevigation apparatus detections are obtained are sent to aobvious by input, the output end of communication module by wired or wireless way
Showing device；Physical features include speed, angle, position；2 are sequentially provided with signal condition electricity between inertial nevigation apparatus and microprocessor
Road and data acquisition circuit, the output end of input 2 inertial nevigation apparatus of termination of signal conditioning circuit, the output of signal conditioning circuit
The input of terminating data Acquisition Circuit, the input of the output termination microprocessor of data acquisition circuit；
It the described method comprises the following steps：
Step 1：The inertial nevigation apparatus of housing surface physical characteristic will be measured, be fixed on the housing surface to be measured of motion, pass through detection
The physical quantity variation of housing surface to be measured, the reset detection of inertial nevigation apparatus is divided into the initial measurement stage with restoring measuring phases,
The initial measurement stage, inertial nevigation apparatus measure cavity physical parameter maximum, minimum value and preset value, calculate preset value with
Two ratios being most worth；Measuring phases are restored, inertial nevigation apparatus also measures the maximum, minimum value and anticipation of cavity respective physical characteristic
Value, if on the equal proportion point of the difference of anticipation value preset value and maximum and minimum value, i.e., cavity sets back；
Step 2：Microprocessor is obtained after inertial navigation measurement data, can real-time monitored by being wirelessly or non-wirelessly transferred to display device
The change of physical parameter in cavity motion process, if cavity is changed to predetermined condition, display device sends prompting.
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| CN101487709B (en) * | 2009-02-27 | 2011-01-26 | 哈尔滨工程大学 | Micro-miniature inertial measuring unit |
| CN102607558A (en) * | 2012-03-05 | 2012-07-25 | 哈尔滨工程大学 | Relative deformation measuring method based on inertial measurement units |
| CN103697886A (en) * | 2012-09-28 | 2014-04-02 | 中国石油天然气股份有限公司 | Inertial navigation measurement method for pipeline center line |
| CN204931616U (en) * | 2015-09-21 | 2016-01-06 | 厦门大学 | A kind of cavity deformation resetting detection device based on inertial navigation system |
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| 微加速度传感器在人工胸外按压中的应用与实物研究;钱绍文;《中国优秀硕士学位论文全文数据库医药卫生科技辑》;20130215(第2期);第26-47页 * |
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