CN105571615B - The calibration method and system of double-shaft tilt angle sensor peculiar to vessel - Google Patents
The calibration method and system of double-shaft tilt angle sensor peculiar to vessel Download PDFInfo
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- CN105571615B CN105571615B CN201511009333.1A CN201511009333A CN105571615B CN 105571615 B CN105571615 B CN 105571615B CN 201511009333 A CN201511009333 A CN 201511009333A CN 105571615 B CN105571615 B CN 105571615B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The present invention relates to the calibration system and method for a kind of double-shaft tilt angle sensor peculiar to vessel, which includes: the reading unit with double-shaft tilt angle sensor communication connection peculiar to vessel, the output voltage being located at standard water plane for reading obliquity sensor；Storage unit, for storing the output voltage of reading unit reading；Calibration unit for reading the actual output voltage in double-shaft tilt angle sensor actual measurement peculiar to vessel, and combines output voltage in storage unit to eliminate error present in actual measurement so that actual acceleration is calculated；And angle calculation unit, for calculating angle according to the actual acceleration.By obtaining standard output voltage of the double-shaft tilt angle sensor peculiar to vessel in standard water plane, to eliminate the error that double-shaft tilt angle sensor peculiar to vessel generates in actual measurement, so that the angle that obliquity sensor measures is consistent with practical inclination angle, the measuring accuracy of obliquity sensor is improved.
Description
Technical field
The present invention relates to the calibrations of double-shaft tilt angle sensor peculiar to vessel, refer in particular to a kind of calibration side of double-shaft tilt angle sensor peculiar to vessel
Method and system.
Background technique
Double-shaft tilt angle sensor peculiar to vessel is used to measure the inclination angle of horizontal plane two disposition directions with respect to the horizontal plane, passes through ship
Inclination angle is measured with two obliquity sensors vertically disposed on double-shaft tilt angle sensor, due to obliquity sensor itself, measurement
Circuit itself and welding position can all have inherent variability, so that the tilt angle that obliquity sensor measures is inclined with actual
There are error between rake angle, accuracy is lower.
Summary of the invention
It is an object of the invention to overcome the deficiencies of existing technologies, a kind of calibration side that double-shaft tilt angle wound peculiar to vessel is picked up is provided
Method and system solve the problems, such as that there are error, accuracy are lower when existing obliquity sensor measures.
Realizing the technical solution of above-mentioned purpose is:
A kind of calibration method of double-shaft tilt angle sensor peculiar to vessel of the present invention, comprising:
Communication connection is established with double-shaft tilt angle sensor peculiar to vessel, the double-shaft tilt angle sensor peculiar to vessel includes vertically disposed
X-axis obliquity sensor and Y-axis obliquity sensor；
The double-shaft tilt angle sensor peculiar to vessel is placed in standard water plane, reads and X-axis is inclined at recording level position
The output voltage of angle transducer and Y-axis obliquity sensor is to be respectively formed X-axis output voltage Vx-orgWith Y-axis output voltage Vy-org；
The double-shaft tilt angle sensor peculiar to vessel is placed in the position 1g and the position -1g in X-axis, reads and records X-axis 1g
The output voltage of X-axis obliquity sensor is at position to form X-axis 1g output voltage Vx-1g+, read and record X at the position X-axis -1g
The output voltage of axial rake sensor is to form X-axis -1g output voltage Vx-1g-；
The double-shaft tilt angle sensor peculiar to vessel is placed in the position 1g and the position -1g in Y-axis, reads and records Y-axis 1g
The output voltage of Y-axis obliquity sensor is at position to form Y-axis 1g output voltage Vy-1g+, read and record Y at the position Y-axis -1g
The output voltage of axial rake sensor is to form Y-axis -1g output voltage Vy-1g-；
Read the practical X-axis output voltage V in the double-shaft tilt angle sensor actual measurement peculiar to vesselxIt is exported with practical Y-axis
Voltage Vy, further according to the X-axis output voltage Vx-org, the Y-axis output voltage Vy-org, the X-axis 1g output voltage Vx-1g+、
X-axis -1g output voltage the Vx-1g-, the Y-axis 1g output voltage Vy-1g+And Y-axis -1g output voltage the Vy-1g-It eliminates
Simultaneously practical X-axis acceleration ax and practical Y-axis acceleration ay is calculated in error present in actual measurement；And
X-axis angle and Y-axis angle are calculated using the practical X-axis acceleration ax and the practical Y-axis acceleration ay.
The present invention is utilized by obtaining six standard output voltages of the double-shaft tilt angle sensor peculiar to vessel in standard water plane
Six standard output voltages eliminate the error that double-shaft tilt angle sensor peculiar to vessel generates in actual measurement, so that obliquity sensor
The angle measured is consistent with practical inclination angle, improves the measuring accuracy of obliquity sensor.Actual inclination angle is provided for ship
Degree, convenient for the control management of ship.
The calibration method of present invention double-shaft tilt angle sensor peculiar to vessel further improvement lies in that, exported further according to the X-axis
Voltage Vx-org, the Y-axis output voltage Vy-org, the X-axis 1g output voltage Vx-1g+, X-axis -1g output voltage the Vx-1g-, institute
State Y-axis 1g output voltage Vy-1g+And Y-axis -1g output voltage the Vy-1g-It eliminates error present in actual measurement and calculates
Obtain practical X-axis acceleration ax and practical Y-axis acceleration ay, comprising:
Judge the practical X-axis output voltage VxWith the X-axis output voltage Vx-orgSize, if the practical X-axis is defeated
Voltage V outxGreater than the X-axis output voltage Vx-org, then one (V of formula is utilizedx-Vx-org)/Vx-1g-To calculate practical X-axis acceleration
ax；If the practical X-axis output voltage VxLess than or equal to the X-axis output unit Vx-org, then two (V of formula is utilizedx-Vx-org)/
Vx-1g+To calculate practical X-axis acceleration ax；
Judge the practical Y-axis output voltage VyWith the Y-axis output voltage Vy-orgSize, if the practical Y-axis is defeated
Voltage V outyGreater than the Y-axis output voltage Vy-org, then three (V of formula is utilizedy-Vy-org)/Vy-1g-To calculate practical Y-axis acceleration
ay；If the practical Y-axis output voltage VyLess than or equal to the Y-axis output voltage Vy-org, then four (V of formula is utilizedy-Vy-org)/
Vy-1g+To calculate practical Y-axis acceleration ay.
The calibration method of present invention double-shaft tilt angle sensor peculiar to vessel further improvement lies in that, added using the practical X-axis
Speed ax and the practical Y-axis acceleration ay calculate X-axis angle and Y-axis angle, comprising:
X-axis angle and Y-axis angle are calculated by angle formula；
The angle formula is r=asin (a), and wherein r is angle, and a is acceleration.
The calibration method of present invention double-shaft tilt angle sensor peculiar to vessel further improvement lies in that, with the double-shaft tilt angle peculiar to vessel
When sensor establishes communication connection, communicated using communication baud rate 9600bps.
The calibration method of present invention double-shaft tilt angle sensor peculiar to vessel further improvement lies in that, by the double-shaft tilt angle peculiar to vessel
When sensor is placed in the position 1g and the position -1g in X-axis, the double-shaft tilt angle sensor peculiar to vessel is enabled to be placed in the 1g in X-axis
Position is stablized at least 1 second, and the double-shaft tilt angle sensor peculiar to vessel is enabled to be placed in the position -1g in X-axis at least 1 second；
When the position 1g and the position -1g that the double-shaft tilt angle sensor peculiar to vessel are placed in Y-axis, the twin shaft peculiar to vessel is enabled
Obliquity sensor is placed in the position 1g in Y-axis and stablizes at least 1 second, and the double-shaft tilt angle sensor peculiar to vessel is enabled to be placed in Y-axis
The position -1g at least 1 second.
The present invention also provides a kind of calibration systems of double-shaft tilt angle sensor peculiar to vessel, comprising:
With the reading unit of double-shaft tilt angle sensor communication connection peculiar to vessel, for reading the double-shaft tilt angle sensor peculiar to vessel
Upper vertically disposed X-axis obliquity sensor and Y-axis obliquity sensor are located at the output voltage at standard water plane, are located in X-axis
The position 1g and the position -1g at the output voltage of X-axis obliquity sensor, Y-axis is inclined at the position 1g in Y-axis and the position -1g
The output voltage of angle transducer, and it is correspondingly formed X-axis output voltage Vx-org, Y-axis output voltage Vy-org, X-axis 1g output voltage
Vx-1g+, X-axis -1g output voltage Vx-1g-, Y-axis 1g output voltage Vy-1g+And Y-axis -1g output voltage Vy-1g-；
The storage unit being connect with the reading unit, for storing the X-axis output voltage Vx-org, Y-axis output electricity
Press Vy-org, X-axis 1g output voltage Vx-1g+, X-axis -1g output voltage Vx-1g-, Y-axis 1g output voltage Vy-1g+And Y-axis -1g output
Voltage Vy-1g-；
The calibration unit being connect with the double-shaft tilt angle sensor peculiar to vessel and the storage unit, it is described peculiar to vessel for reading
Practical X-axis output voltage V in double-shaft tilt angle sensor actual measurementxWith practical Y-axis output voltage Vy, and in conjunction with the storage
The X-axis output voltage V in unitx-org, Y-axis output voltage Vy-org, X-axis 1g output voltage Vx-1g+, X-axis -1g output electricity
Press Vx-1g-, Y-axis 1g output voltage Vy-1g+And Y-axis -1g output voltage Vy-1g-Error present in actual measurement is eliminated in terms of
Calculation obtains practical X-axis acceleration ax and practical Y-axis acceleration ay；And
The angle calculation unit being connect with the calibration unit, for according to the practical X-axis acceleration ax and the reality
Border Y-axis acceleration ay calculates X-axis angle and Y-axis angle.
The calibration system of present invention double-shaft tilt angle sensor peculiar to vessel further improvement lies in that, include in the calibration unit
Judgment module and the computing module being connect with the judgment module；
The judgment module is for judging the practical X-axis output voltage VxWith the X-axis output voltage Vx-orgSize,
If the practical X-axis output voltage VxGreater than the X-axis output voltage Vx-org, then send and utilize one (V of formulax-Vx-org)/Vx-1g-
The instruction of practical X-axis acceleration ax is calculated to the computing module；If the practical X-axis output voltage VxLess than or equal to the X
Axis output unit Vx-org, then send and utilize two (V of formulax-Vx-org)/Vx-1g+The instruction of practical X-axis acceleration ax is calculated to described
Computing module；It is also used to judge the practical Y-axis output voltage VyWith the Y-axis output voltage Vy-orgSize, if the reality
Border Y-axis output voltage VyGreater than the Y-axis output voltage Vy-org, then send and utilize three (V of formulay-Vy-org)/Vy-1g-It calculates practical
The instruction of Y-axis acceleration ay is to the computing module；If the practical Y-axis output voltage VyElectricity is exported less than or equal to the Y-axis
Press Vy-org, then send and utilize four (V of formulay-Vy-org)/Vy-1g+The instruction of practical Y-axis acceleration ay is calculated to the calculating mould
Block；
The formula one is stored in the computing module to formula four, the computing module is used for according to the judgement
Practical X-axis acceleration ax and practical Y-axis acceleration ay is calculated in the instruction that module is sent.
The calibration system of present invention double-shaft tilt angle sensor peculiar to vessel further improvement lies in that, in the angle calculation unit
It stores angled formula and X-axis angle and Y-axis angle is calculated according to the angle formula, the angle formula is r=
Asin (a), wherein r is angle, and a is acceleration.
The calibration system of present invention double-shaft tilt angle sensor peculiar to vessel further improvement lies in that, the reading unit with it is described
Double-shaft tilt angle sensor peculiar to vessel is communicated using communication baud rate 9600bps.
The calibration system of present invention double-shaft tilt angle sensor peculiar to vessel further improvement lies in that, the reading unit is being read
When the output voltage of the double-shaft tilt angle sensor updip angle transducer peculiar to vessel, the double-shaft tilt angle sensor peculiar to vessel is located at described
The time of standard water plane, the time of the position 1g in the X-axis and the position -1g and the position 1g in the Y-axis
It sets and the time of the position -1g is at least 1 second.
Detailed description of the invention
Fig. 1 is the system block diagram of the calibration system of present invention double-shaft tilt angle sensor peculiar to vessel.
Fig. 2 is the flow chart of the calibration method of present invention double-shaft tilt angle sensor peculiar to vessel.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
The present invention provides the calibration systems and method of a kind of double-shaft tilt angle sensor peculiar to vessel, peculiar to vessel double for calibrating
Obliquity sensor on axial rake sensor eliminates error when obliquity sensor measurement, to improve the measurement of obliquity sensor
Precision.The double-shaft tilt angle sensor peculiar to vessel is used to measure the leaning forward of hull, hypsokinesis, "Left"-deviationist and Right deviation angle, is ship's navigation
Actual angle-data is provided, convenient for the navigation management of ship.Calibration system and method for the invention, double-shaft tilt angle peculiar to vessel is passed
Sensor is placed in standard water plane, is read and is recorded the X-axis on double-shaft tilt angle sensor peculiar to vessel and Y-axis obliquity sensor is located at water
Prosposition is set and the 1g in X-axis and Y-axis and the output voltage at the position -1g, and the output voltage of above-mentioned six standards is utilized to eliminate
The error of output voltage when actual measurement, calculates actual acceleration, and actual accelerometer is recycled to calculate actual angle
Degree.The calibration system and method for present invention double-shaft tilt angle sensor peculiar to vessel are illustrated with reference to the accompanying drawing.
Refering to fig. 1, it is shown that the system block diagram of the calibration system of present invention double-shaft tilt angle sensor peculiar to vessel.Below with reference to figure
1, the calibration system of present invention double-shaft tilt angle sensor peculiar to vessel is illustrated.
As shown in Figure 1, the calibration system of present invention double-shaft tilt angle sensor peculiar to vessel includes reading unit 11, storage unit
12, calibration unit 13 and angle calculation unit 14, reading unit 11 and calibration unit 13 with double-shaft tilt angle sensor peculiar to vessel
21 connections, storage unit 12 are connect with reading unit 11 and calibration unit 13, and angle calculation unit 14 is connect with calibration unit 13.
Two obliquity sensors are provided in double-shaft tilt angle sensor 21 peculiar to vessel, are X-axis obliquity sensor and Y-axis inclination angle sensing respectively
Device, the obliquity sensor are used to determine the inclination angle of itself and horizontal plane, are passed by being disposed vertically two inclination angles in a plane
Sensor measures the inclination angle of object to obtain the tilt angle of the plane with respect to the horizontal plane.Angle is measured using obliquity sensor
The principle of degree is the output voltage V of obliquity sensor relationship proportional to acceleration a, specifically, if obliquity sensor input electricity
Press Vdd, that theoretically obliquity sensor when at the position -1g, output voltage is the position 0,0g output voltage be 1/2*Vdd, 1g
Output voltage when setting is Vdd.According to the output voltage of obliquity sensor, acceleration is calculated, is calculated further according to accelerometer
Angle value.But all due to the installation site of obliquity sensor itself, measuring circuit itself and double-shaft tilt angle sensor peculiar to vessel
There can be inherent variability, the output voltage V of such as practical position 0g may not be 1/2*Vdd, and output voltage on the position of -1g
It is not necessarily 0, the calibration system of double-shaft tilt angle sensor peculiar to vessel of the invention is for eliminating double-shaft tilt angle sensor peculiar to vessel in reality
Constant error present in the measurement of border, improves the accuracy of the actual measurement of double-shaft tilt angle sensor peculiar to vessel.
Reading unit 11 and 21 communication connection of double-shaft tilt angle sensor peculiar to vessel, reading unit 11 are inclined for reading twin shaft peculiar to vessel
The output voltage of vertically disposed X-axis obliquity sensor and Y-axis obliquity sensor, reads double-shaft tilt angle peculiar to vessel on angle transducer 21
Sensor 21 is located in standard water plane, and the output voltage of horizontal position is correspondingly formed X-axis output voltage Vx-org, Y-axis output
Voltage Vy-org, the output voltage of X-axis obliquity sensor is correspondingly formed X-axis 1g output at the position 1g in X-axis and the position -1g
Voltage Vx-1g+With X-axis -1g output voltage Vx-1g-, the position 1g and the output of Y-axis obliquity sensor at the position -1g in Y-axis
Voltage is correspondingly formed Y-axis 1g output voltage Vy-1g+With Y-axis -1g output voltage Vy-1g-.Reading unit 11 is by inclining twin shaft peculiar to vessel
Angle transducer 21 is placed in standard water plane, carrys out the standard output voltage value on measurement standard horizontal plane with this, is avoided peculiar to vessel double
Axial rake sensor 21 be installed on after ship when reading standard output voltage value again there are installation error, obliquity sensor itself miss
Difference and measuring circuit error itself cause standard output voltage value to deviate standard, so that subsequent calculated angle value
And there are biggish deviations for actual angle.
Storage unit 12 is connect with reading unit 11, and storage unit 12 is used to store the X-axis output of the reading of reading unit 11
Voltage Vx-org, Y-axis output voltage Vy-org, X-axis 1g output voltage Vx-1g+, X-axis -1g output voltage Vx-1g-, Y-axis 1g output voltage
Vy-1g+And Y-axis -1g output voltage Vy-1g-。
Calibration unit 13 is connect with double-shaft tilt angle sensor 21 peculiar to vessel and storage unit 12, and calibration unit 13 is for reading ship
With the practical X-axis output voltage V in 21 actual measurement of double-shaft tilt angle sensorxWith practical Y-axis output voltage Vy, and combine storage
X-axis output voltage V in unit 12x-org, Y-axis output voltage Vy-org, X-axis 1g output voltage Vx-1g+, X-axis -1g output voltage
Vx-1g-, Y-axis 1g output voltage Vy-1g+And Y-axis -1g output voltage Vy-1g-Error present in actual measurement is eliminated to calculate
Obtain practical X-axis acceleration ax and practical Y-axis acceleration ay.It include judgment module and and judgment module in calibration unit 13
The computing module of connection, the output voltage that judgment module is used to judge to store in actual output voltage and memory module 12 it is big
It is small, and then more judge the selected formula for calculating acceleration, then acceleration is calculated by computing module.Specifically, judgment module
Judge practical X-axis output voltage VxWith X-axis output voltage Vx-orgSize, if practical X-axis output voltage VxElectricity is exported greater than X-axis
Press Vx-org, illustrate that X-axis obliquity sensor is located at 0g and utilizes one (V of formula between 1g, then sendingx-Vx-org)/Vx-1g-It calculates real
The instruction of border X-axis acceleration ax is to computing module；If practical X-axis output voltage VxLess than or equal to X-axis output unit Vx-org, then send out
It send and utilizes two (V of formulax-Vx-org)/Vx-1g+The instruction of practical X-axis acceleration ax is calculated to computing module；Judgment module judgement is real
Border Y-axis output voltage VyWith Y-axis output voltage Vy-orgSize, if practical Y-axis output voltage VyGreater than Y-axis output voltage
Vy-org, then send and utilize three (V of formulay-Vy-org)/Vy-1g-The instruction of practical Y-axis acceleration ay is calculated to computing module；If real
Border Y-axis output voltage VyLess than or equal to Y-axis output voltage Vy-org, then send and utilize four (V of formulay-Vy-org)/Vy-1g+It calculates practical
The instruction of Y-axis acceleration ay is to computing module.The formula one being stored in computing module is to formula four, in which:
Formula one is (Vx-Vx-org)/Vx-1g-；
Formula two is (Vx-Vx-org)/Vx-1g+；
Formula three is (Vy-Vy-org)/Vy-1g-；
Formula four is (Vy-Vy-org)/Vy-1g+；
Computing module is used to that practical X-axis acceleration ax to be calculated according to the instruction that judgment module is sent and practical Y-axis adds
Speed ay.
It is illustrated for calculating X-axis acceleration ax, calculates Y-axis acceleration ay and calculates X-axis acceleration ax principle phase
Together.After double-shaft tilt angle sensor 21 peculiar to vessel is installed on ship, actual measurement is carried out, reads the practical X-axis output of obliquity sensor
Voltage Vx, judge VxWith Vx-orgSize, the Vx-orgFor the X-axis output voltage V being stored in storage unit 12x-org.Assuming that Vx
Greater than Vx-org, thus select one (V of formulax-Vx-org)/Vx-1g-Practical X-axis acceleration ax is calculated, practical X-axis has been obtained and has accelerated
Spend ax.
Angle calculation unit 14 is connect with calibration unit 13, and angle calculation unit 14 according to calibration unit 13 for calculating
Practical X-axis acceleration ax and practical Y-axis acceleration ay out calculates X-axis angle and Y-axis angle.In angle calculation unit 14
Angled formula is stored, obtains X-axis angle and Y-axis angle according to what angle formula calculated, which is r=asin (a),
Wherein r is angle, and a is acceleration.X-axis angle rx=axsin (ax), Y-axis angle ry=aysin (ay).Due to accelerometer
Constant error is eliminated when calculation, so calculated angle is actual tilt angle.
Preferably, reading unit 11 is the hyper terminal on computer, the circuit of double-shaft tilt angle sensor 21 peculiar to vessel leads to
On the serial ports for interrogating serial ports connection computer, hyper terminal sets communication baud rate 9600bps and double-shaft tilt angle sensor 21 peculiar to vessel
It is communicated.Then double-shaft tilt angle sensor 21 peculiar to vessel is placed on the horizontal plane of standard, is inputted in hyper terminal
SET_ORG $, allows the horizontal position V of X-axis and Y-axis at double-shaft tilt angle sensor recording level peculiar to vessel positionx-org, Vy-org, stablize
Afterwards, AUTO_SET $ is inputted in hyper terminal stop horizontal position Vx-org, Vy-orgAcquisition, while starting to X, Y-axis maximum value
The acquisition of minimum value.1S or more is stablized into the position that double-shaft tilt angle sensor peculiar to vessel is placed on X-axis 1g, double-shaft tilt angle peculiar to vessel is allowed to pass
The sampled value V of the sensor record position X-axis 1gx-1g+.By double-shaft tilt angle sensor peculiar to vessel be placed on X-axis -1g position stablize 1S with
On, allow double-shaft tilt angle sensor peculiar to vessel to record the sampled value V of the position X-axis -1gx-1g-.With the available V of same methody-1g+,
And Vy-1g-.SAVE $ is inputted in hyper terminal by Vx-org、Vy-org、Vx-1g+、Vx-1g-、Vy-1g+、Vy-1g-Value be stored in storage unit
In, it is used for actual angle calculation.EXIT $ is inputted in hyper terminal, and double-shaft tilt angle sensor peculiar to vessel is allowed to enter actual measurement
Mode.
The calibration method of present invention double-shaft tilt angle sensor peculiar to vessel is illustrated below.
As shown in Fig. 2, the calibration method of present invention double-shaft tilt angle sensor peculiar to vessel includes:
Step S21 is executed, establishes communication connection with double-shaft tilt angle sensor peculiar to vessel, double-shaft tilt angle sensor peculiar to vessel includes hanging down
The X-axis obliquity sensor and Y-axis obliquity sensor being directly arranged, obliquity sensor are used to determine the inclination angle of itself and horizontal plane, lead to
It crosses and is disposed vertically two obliquity sensors in a plane, measured to obtain the tilt angle of the plane with respect to the horizontal plane
The inclination angle of object.Then step S22 is executed.
Step S22 is executed, double-shaft tilt angle sensor peculiar to vessel is put in standard water plane, reads X-axis obliquity sensor and Y-axis
The output voltage of obliquity sensor, reading the output voltages of two obliquity sensors at recording level position, to be respectively formed X-axis defeated
Voltage V outx-orgWith Y-axis output voltage Vy-org.Then step S23 is executed.
Step S23 is executed, double-shaft tilt angle sensor peculiar to vessel is put in 1g and the position -1g in X-axis, X-axis inclination angle is read and passes
The output voltage of sensor, reads and the output voltage for recording X-axis obliquity sensor at the position X-axis 1g forms X-axis 1g output voltage
Vx-1g+, read and the output voltage for recording X-axis obliquity sensor at the position X-axis -1g form X-axis -1g output voltage Vx-1g-.It connects
Execution step S24.
Step S24 is executed, double-shaft tilt angle sensor peculiar to vessel is put in 1g and the position -1g in Y-axis, Y-axis inclination angle is read and passes
The output voltage of sensor, reads and the output voltage for recording Y-axis obliquity sensor at the position Y-axis 1g forms Y-axis 1g output voltage
Vy-1g+, read and the output voltage for recording Y-axis obliquity sensor at the position Y-axis -1g form Y-axis -1g output voltage Vy-1g-.It connects
Execution step S25.
Step S25 is executed, output voltage in double-shaft tilt angle sensor actual measurement peculiar to vessel is read, is read using previous step
Voltage eliminate actual measurement error and calculate acceleration.Read the reality in double-shaft tilt angle sensor actual measurement peculiar to vessel
X-axis output voltage VxWith practical Y-axis output voltage Vy, further according to X-axis output voltage Vx-org, Y-axis output voltage Vy-org, X-axis 1g
Output voltage Vx-1g+, X-axis -1g output voltage Vx-1g-, Y-axis 1g output voltage Vy-1g+And Y-axis -1g output voltage Vy-1g-It eliminates
Simultaneously practical X-axis acceleration ax and practical Y-axis acceleration ay is calculated in error present in actual measurement.Calculate acceleration packet
It includes: the practical X-axis output voltage V of judgementxWith X-axis output voltage Vx-orgSize, if practical X-axis output voltage VxIt is defeated greater than X-axis
Voltage V outx-org, then one (V of formula is utilizedx-Vx-org)/Vx-1g-Calculate practical X-axis acceleration ax；If practical X-axis output voltage Vx
Less than or equal to X-axis output unit Vx-org, then two (V of formula is utilizedx-Vx-org)/Vx-1gCalculate practical X-axis acceleration ax；Judgement is real
Border Y-axis output voltage VyWith Y-axis output voltage Vy-orgSize, if practical Y-axis output voltage VyGreater than Y-axis output voltage
Vy-org, then three (V of formula is utilizedy-Vy-org)/Vy-1g-Calculate practical Y-axis acceleration ay；If practical Y-axis output voltage VyLess than etc.
In Y-axis output voltage Vy-org, then four (V of formula is utilizedy-Vy-org)/Vy-1g+Calculate practical Y-axis acceleration ay.Then step is executed
S26。
Step S26 is executed, goes out angle using calculated acceleration calculation.Utilize practical X-axis acceleration ax and practical Y-axis
Acceleration ay calculates X-axis angle and Y-axis angle.It specifically includes: X-axis angle and Y-axis angle is calculated by angle formula；It should
Angle formula is r=asin (a), and wherein r is angle, and a is acceleration.X-axis angle rx=axsin (ax), Y-axis angle ry=
aysin(ay).Due to eliminating constant error when acceleration calculation, so calculated angle is actual tilt angle.
It when establishing communication connection with double-shaft tilt angle sensor peculiar to vessel, is communicated using communication baud rate 9600bps, with ship
It is connected with the communication serial ports on the circuit of double-shaft tilt angle sensor.By the way that double-shaft tilt angle sensor peculiar to vessel is placed in standard level
Face measures standard output voltage value, eliminates existing constant error after double-shaft tilt angle sensor installation peculiar to vessel with this, in this way
When calculating actual angle, constant error can be avoided, improve the accuracy of angle.
When the position 1g and the position -1g that double-shaft tilt angle sensor peculiar to vessel are placed in X-axis, double-shaft tilt angle peculiar to vessel is enabled to sense
Device is placed in the position 1g in X-axis and stablizes at least 1 second, and the position -1g for enabling double-shaft tilt angle sensor peculiar to vessel be placed in X-axis is at least
1 second；When the position 1g and the position -1g that double-shaft tilt angle sensor peculiar to vessel are placed in Y-axis, double-shaft tilt angle sensor peculiar to vessel is enabled to put
It is placed in the position 1g in Y-axis to stablize at least 1 second, the position -1g for enabling double-shaft tilt angle sensor peculiar to vessel be placed in Y-axis at least 1 second.
The sampled value that can ensure to obtain in this way is stablized accurate.
Calibration method of the present invention can be implemented by the following steps to eliminate the constant error of obliquity sensor.Step is such as
Under:
The communication serial ports of circuit is linked on 232 serial ports of computer, opens hyper terminal, setting communication on computers
Baud rate 9600bps.
Double-shaft tilt angle sensor peculiar to vessel is placed on the horizontal plane with standard, SET_ORG $ is inputted in hyper terminal, is allowed
The horizontal position V of double-shaft tilt angle sensor recording level peculiar to vessel position, X-axis and Y-axisx-org, Vy-org, after stabilization, at super end
AUTO_SET $ is inputted on end stops horizontal position Vx-org, Vy-orgAcquisition, while X, Y-axis max min are adopted in starting
Collection.
1S or more is stablized into the position that double-shaft tilt angle sensor peculiar to vessel is placed on X-axis 1g, allows double-shaft tilt angle sensor peculiar to vessel
Record the sampled value V of the position X-axis 1gx-1g+.1S or more is stablized into the position that double-shaft tilt angle sensor peculiar to vessel is placed on X-axis -1g, is allowed
The sampled value V of the double-shaft tilt angle sensor record peculiar to vessel position X-axis -1gx-1g-.With the available V of same methody-1g+, and
Vy-1g-。
SAVE $ is inputted in hyper terminal by Vx-org、Vy-org、Vx-1g+、Vx-1g-、Vy-1g+、Vy-1g-Value be stored in flash.
For actual angle calculation.
EXIT $ is inputted in hyper terminal, and double-shaft tilt angle sensor peculiar to vessel is allowed to enter actual measurement mode.
Steps are as follows for the calculating of actual measurement mode:
The practical X-axis for reading sensor exports Vx, judge VxWith Vx-orgSize, if fruit Vx>Vx-org, illustrate that X-axis senses
Device is between 0~+1g, with (Vx-Vx-org)/Vx-1g-Calculate actual x-axis acceleration ax.Otherwise (V is usedx-Vx-org)/
Vx-1g+Calculate actual x-axis acceleration value ax.
It reads the actual Y-axis of sensor and exports Vy, the acceleration ay of Y-axis is calculated using above-mentioned calculating step.
The actual y-axis angle of angle rx=axsin (ax) of actual x-axis is calculated by angle formula r=asin (a)
Ry=aysin (ay).
The present invention has been described in detail with reference to the accompanying drawings, those skilled in the art can be according to upper
It states and bright many variations example is made to the present invention.Thus, certain details in embodiment should not constitute limitation of the invention, this
Invention will be using the range that the appended claims define as protection scope of the present invention.
Claims (8)
1. a kind of calibration method of double-shaft tilt angle sensor peculiar to vessel characterized by comprising
Communication connection is established with double-shaft tilt angle sensor peculiar to vessel, the double-shaft tilt angle sensor peculiar to vessel includes vertically disposed X-axis
Obliquity sensor and Y-axis obliquity sensor；
The double-shaft tilt angle sensor peculiar to vessel is placed in standard water plane, reads and the recording level position inclination angle ChuXZhou passes
The output voltage of sensor and Y-axis obliquity sensor is to be respectively formed X-axis output voltage Vx-orgWith Y-axis output voltage Vy-org；
The double-shaft tilt angle sensor peculiar to vessel is placed in the position 1g and the position -1g in X-axis, reads and records the position X-axis 1g
Locate the output voltage of X-axis obliquity sensor to form X-axis 1g output voltage Vx-1g+, read and record X-axis at the position X-axis -1g and incline
The output voltage of angle transducer is to form X-axis -1g output voltage Vx-1g-；
The double-shaft tilt angle sensor peculiar to vessel is placed in the position 1g and the position -1g in Y-axis, reads and records the position Y-axis 1g
Locate the output voltage of Y-axis obliquity sensor to form Y-axis 1g output voltage Vy-1g+, read and record Y-axis at the position Y-axis -1g and incline
The output voltage of angle transducer is to form Y-axis -1g output voltage Vy-1g-；
Read the practical X-axis output voltage V in the double-shaft tilt angle sensor actual measurement peculiar to vesselxWith practical Y-axis output voltage
Vy, further according to the X-axis output voltage Vx-org, the Y-axis output voltage Vy-org, the X-axis 1g output voltage Vx-1g+, the X
Axis -1g output voltage Vx-1g-, the Y-axis 1g output voltage Vy-1g+And Y-axis -1g output voltage the Vy-1g-Eliminate practical survey
Simultaneously practical X-axis acceleration ax and practical Y-axis acceleration ay is calculated in error present in amount, comprising:
Judge the practical X-axis output voltage VxWith the X-axis output voltage Vx-orgSize, if practical X-axis output electricity
Press VxGreater than the X-axis output voltage Vx-org, then one (V of formula is utilizedx-Vx-org)/Vx-1g-To calculate practical X-axis acceleration ax；
If the practical X-axis output voltage VxLess than or equal to the X-axis output voltage Vx-org, then two (V of formula is utilizedx-Vx-org)/Vx-1g+
To calculate practical X-axis acceleration ax；
Judge the practical Y-axis output voltage VyWith the Y-axis output voltage Vy-orgSize, if practical Y-axis output electricity
Press VyGreater than the Y-axis output voltage Vy-org, then three (V of formula is utilizedy-Vy-org)/Vy-1g-To calculate practical Y-axis acceleration ay；
If the practical Y-axis output voltage VyLess than or equal to the Y-axis output voltage Vy-org, then four (V of formula is utilizedy-Vy-org)/Vy-1g+
To calculate practical Y-axis acceleration ay；And
X-axis angle and Y-axis angle are calculated using the practical X-axis acceleration ax and the practical Y-axis acceleration ay.
2. the calibration method of double-shaft tilt angle sensor peculiar to vessel as described in claim 1, which is characterized in that utilize the practical X
Axle acceleration ax and the practical Y-axis acceleration ay calculate X-axis angle and Y-axis angle, comprising:
X-axis angle and Y-axis angle are calculated by angle formula；
The angle formula is r=asin (a), and wherein r is angle, and a is acceleration.
3. the calibration method of double-shaft tilt angle sensor peculiar to vessel as described in claim 1, which is characterized in that with the twin shaft peculiar to vessel
When obliquity sensor establishes communication connection, communicated using communication baud rate 9600bps.
4. the calibration method of double-shaft tilt angle sensor peculiar to vessel as described in claim 1, which is characterized in that by the twin shaft peculiar to vessel
When obliquity sensor is placed in the position 1g and the position -1g in X-axis, the double-shaft tilt angle sensor peculiar to vessel is enabled to be placed in X-axis
The position 1g stablize at least 1 second, enable the double-shaft tilt angle sensor peculiar to vessel be placed in the position -1g in X-axis at least 1 second；
When the position 1g and the position -1g that the double-shaft tilt angle sensor peculiar to vessel are placed in Y-axis, the double-shaft tilt angle peculiar to vessel is enabled
Sensor is placed in the position 1g in Y-axis and stablizes at least 1 second, and the double-shaft tilt angle sensor peculiar to vessel is enabled to be placed in-the 1g in Y-axis
Position at least 1 second.
5. a kind of calibration system of double-shaft tilt angle sensor peculiar to vessel characterized by comprising
With the reading unit of double-shaft tilt angle sensor communication connection peculiar to vessel, hang down on the double-shaft tilt angle sensor peculiar to vessel for reading
The X-axis obliquity sensor and Y-axis obliquity sensor being directly arranged are located at the output voltage at standard water plane, the 1g in X-axis
The output voltage of X-axis obliquity sensor, the position 1g in Y-axis and the position -1g inclination angle ChuYZhou pass at position and the position -1g
The output voltage of sensor, and it is correspondingly formed X-axis output voltage Vx-org, Y-axis output voltage Vy-org, X-axis 1g output voltage Vx-1g+、X
Axis -1g output voltage Vx-1g-, Y-axis 1g output voltage Vy-1g+And Y-axis -1g output voltage Vy-1g-；
The storage unit being connect with the reading unit, for storing the X-axis output voltage Vx-org, Y-axis output voltage
Vy-org, X-axis 1g output voltage Vx-1g+, X-axis -1g output voltage Vx-1g-, Y-axis 1g output voltage Vy-1g+And Y-axis -1g output electricity
Press Vy-1g-；
The calibration unit being connect with the double-shaft tilt angle sensor peculiar to vessel and the storage unit, for reading the twin shaft peculiar to vessel
Practical X-axis output voltage V in obliquity sensor actual measurementxWith practical Y-axis output voltage Vy, and in conjunction with the storage unit
In the X-axis output voltage Vx-org, Y-axis output voltage Vy-org, X-axis 1g output voltage Vx-1g+, X-axis -1g output voltage
Vx-1g-, Y-axis 1g output voltage Vy-1g+And Y-axis -1g output voltage Vy-1g-Error present in actual measurement is eliminated to calculate
Obtain practical X-axis acceleration ax and practical Y-axis acceleration ay；And
The angle calculation unit being connect with the calibration unit, for according to the practical X-axis acceleration ax and the practical Y-axis
Acceleration ay calculates X-axis angle and Y-axis angle；It include judgment module and being connect with the judgment module in the calibration unit
Computing module；
The judgment module is for judging the practical X-axis output voltage VxWith the X-axis output voltage Vx-orgSize, if institute
State practical X-axis output voltage VxGreater than the X-axis output voltage Vx-org, then one (V of formula will be utilizedx-Vx-org)/Vx-1g-It calculates real
The instruction of border X-axis acceleration ax is sent to the computing module；If the practical X-axis output voltage VxLess than or equal to the X-axis
Output voltage Vx-org, then two (V of formula will be utilizedx-Vx-org)/Vx-1g+The instruction of the practical X-axis acceleration ax of calculating is sent to described
Computing module；It is also used to judge the practical Y-axis output voltage VyWith the Y-axis output voltage Vy-orgSize, if the reality
Border Y-axis output voltage VyGreater than the Y-axis output voltage Vy-org, then three (V of formula will be utilizedy-Vy-org)/Vy-1g-Calculate practical Y
The instruction of axle acceleration ay is sent to the computing module；If the practical Y-axis output voltage VyIt is exported less than or equal to the Y-axis
Voltage Vy-org, then four (V of formula will be utilizedy-Vy-org)/Vy-1g+The instruction for calculating practical Y-axis acceleration ay is sent to the calculating
Module；
The formula one is stored in the computing module to formula four, the computing module is used for according to the judgment module
Practical X-axis acceleration ax and practical Y-axis acceleration ay is calculated in the instruction of transmission.
6. the calibration system of double-shaft tilt angle sensor peculiar to vessel as claimed in claim 5, which is characterized in that the angle calculation list
It is stored with angle formula in member and X-axis angle and Y-axis angle are calculated according to the angle formula, the angle formula is r
=asin (a), wherein r is angle, and a is acceleration.
7. the calibration system of double-shaft tilt angle sensor peculiar to vessel as claimed in claim 5, which is characterized in that the reading unit with
The double-shaft tilt angle sensor peculiar to vessel is communicated using communication baud rate 9600bps.
8. the calibration system of double-shaft tilt angle sensor peculiar to vessel as claimed in claim 5, which is characterized in that the reading unit exists
When reading the output voltage of the double-shaft tilt angle sensor updip angle transducer peculiar to vessel, the double-shaft tilt angle sensor peculiar to vessel is located at
The time of the standard water plane, the time of the position 1g in the X-axis and the position -1g and in the Y-axis
The time of the position 1g and the position -1g is at least 1 second.
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| CN106813680A (en) * | 2016-12-28 | 2017-06-09 | 兰州空间技术物理研究所 | A kind of static demarcating method of high accuracy, high-resolution quartz immunity sensor |
| CN106767697A (en) * | 2016-12-31 | 2017-05-31 | 嘉兴市纳杰微电子技术有限公司 | Dual axis inclinometer and scaling method |
| CN107089299B (en) * | 2017-03-27 | 2019-01-18 | 大连中远海运川崎船舶工程有限公司 | A kind of measuring system and its measurement method of ship inclination angle |
| CN112082575B (en) * | 2020-09-07 | 2022-04-01 | 北京华研军盛科技有限公司 | Test device and method for testing influence of acceleration on tilt angle sensor |
| CN113295184B (en) * | 2021-05-06 | 2022-06-10 | 厦门乃尔电子有限公司 | Calibration method of high-precision double-shaft tilt angle sensor |
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