CN106919106A - Ship Motion Attitude data acquisition device and transmission method - Google Patents
Ship Motion Attitude data acquisition device and transmission method Download PDFInfo
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- CN106919106A CN106919106A CN201710108918.1A CN201710108918A CN106919106A CN 106919106 A CN106919106 A CN 106919106A CN 201710108918 A CN201710108918 A CN 201710108918A CN 106919106 A CN106919106 A CN 106919106A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
Ship Motion Attitude data acquisition device of the invention and transmission method, its device is：Including data processing module, power module, sensor assembly and memory module, sensor assembly includes multiple acceleration transducers and multiple free degree sensors；Sensor assembly, power module and memory module are connected with data processing module respectively；Data processing module is connected to ship information network system by communication interface modules.The Ship Motion Attitude data that multiple acceleration transducers and multiple free degree sensors are collected, Treatment Analysis are carried out by data processing module, finally transmit ship information network system.Ship Motion Attitude data acquisition device of the invention and transmission method, multiple acceleration transducers and multiple degrees of freedom sensor is employed to complete accurate acquisition to Ship Motion Attitude, analysis and process, and terminal in data information transfer to ship information network system, will be made more accurate for the analysis of Ship Motion Attitude, reliable.
Description
Technical field
The present invention relates to technical field of ships, more particularly to Ship Motion Attitude data acquisition device and transmission method.
Background technology
Recent decades, with science and technology and the fast development of shipping industry, the function of shipborne system is increasingly enriched, its intelligence
Level can be changed to be obviously improved, this has deepened its degree of dependence to ship information network.Therefore information network surroundings peculiar to vessel is steady
It is qualitative to become one of leading indicator of shipboard automation, informationization, networking with security, also cause ship information network system
The design of system causes the attention of Marine engineering circle with research and development.The finer and smoother network system integrations of ship, systematization cause full ship
The collection of information data is possibly realized with shared.The sensing data of wherein Ship Motion Attitude information is widely used in ship
The multiple On-Board System such as kinetic control system, its data accuracy, transmission reliability are just particularly important.Thus design is realized
A Ship Motion Attitude data acquisition and the real-time Transmission acquisition terminal technology of accurately and efficiently carrying out turns into current ship letter
One of problem demanding prompt solution during breath Design of Network System.
Therefore, defect of the prior art is that the accuracy for Ship Motion Attitude data acquisition and transmission is low, causes
Analysis result to Ship Motion Attitude is inaccurate, unreliable.
The content of the invention
For above-mentioned technical problem, the present invention provides a kind of Ship Motion Attitude data acquisition device and transmission method, adopts
Accurate acquisition to Ship Motion Attitude, analysis are completed with multiple acceleration transducers and multiple degrees of freedom sensor and process,
And terminal in data information transfer to ship information network system, will be made more accurate for the analysis of Ship Motion Attitude, reliable.
In order to solve the above technical problems, the technical scheme that the present invention is provided is：
The present invention provides a kind of Ship Motion Attitude data acquisition device, including：Data processing module, power module, biography
Sensor module and memory module；
The sensor assembly includes multiple acceleration transducers and multiple free degree sensors；
The sensor assembly, power module and memory module are connected with the data processing module respectively；
The data processing module is connected to ship information network system by communication interface modules.
Ship Motion Attitude data acquisition device of the invention, its technical scheme is：Data processing module, power module,
Sensor assembly and memory module composition Ship Motion Attitude data acquisition device, wherein, the sensor assembly includes multiple
Acceleration transducer and multiple free degree sensors；The sensor assembly, power module and memory module respectively with the number
Connected according to processing module；The data processing module is connected to ship information network system by communication interface modules.By multiple
The Ship Motion Attitude data that acceleration transducer and multiple free degree sensors are collected, at data processing module
Reason analysis, finally transmits ship information network system.
Ship Motion Attitude data acquisition device of the invention, employs multiple acceleration transducers and multiple degrees of freedom sensing
Device is completed to the accurate acquisition of Ship Motion Attitude, analysis and processed, and by data information transfer to ship information network system
In, make terminal more accurate for the analysis of Ship Motion Attitude, reliable.
Further, TMS320F2808 data processors are used in the data processing module.
The processor possesses multi-channel analog/digital signaling interface, thus suitable for the design of multisensor terminal, it is same with this
When, the high-speed computation ability that the processor possesses can meet the analysis of terminal-pair multi-sensor data, the requirement for the treatment of, and in fact
Terminal centralization, intelligent and digitized design requirement are showed.
Further, the multiple acceleration transducer is MMA7260 3-axis acceleration sensors.
MMA7260 can on tri- axial directions of XYZ with high sensitivity read the falling of low gravitation level, incline, move,
Place, shake and wave, with sensitivity high, the optional sensitivity of MMA7260 allow you in 1.5g, 2g, 4g and 6g not
It is designed in co-extensive, its 3 μ A sleep patterns, the 500 low running currents of μ A, the quick startup response time of 1.0ms and 6mm
Other characteristics such as compact packaging of × 6mm × 1.45QFN more make that the design activity around MMA7260 is easy and convenient, economical and efficient.
Its package dimension very little, only needs less board space, and quick startup and park mode are also provided in addition, and these characteristics make
MMA7260 turns into the choosing using the ideal of battery powered electronic product, including PAD, mobile phone, 3D game and digital camera etc..
Therefore, MMA7260 3-axis acceleration sensors are selected in the present invention carries out the collection of Ship Motion Attitude data, and
The data fusion of multiple sensors, can make terminal more accurate for the analysis of Ship Motion Attitude, reliable.
Further, the multiple free degree sensor is the free degree attitude transducers of ADIS16407 ten.
Attitude transducer (E.T-ahrs) is the high performance three-dimensional motion attitude measuring system based on MEMS technology.It is included
Three-axis gyroscope, three axis accelerometer (i.e. IMU), the synkinesia sensor such as three axle electronic compass, by the low-power consumption for embedding
The angular speed that arm processor output was calibrated, acceleration, magnetic data etc., are entered by the sensing data algorithm based on quaternary number
Row athletic posture is measured, and the zero shift 3 d pose data represented with quaternary number, Eulerian angles etc. are exported in real time.Pass through
The athletic posture data that the free degree attitude transducers of ADIS16407 ten are collected more comprehensively, are allowed to the motion appearance to testee
State analysis is more accurate.
Therefore, the free degree attitude transducers of ADIS16407 ten are selected in the present invention carries out adopting for Ship Motion Attitude data
Collection, and multiple sensor data fusion, terminal can be made more accurate for the analysis of Ship Motion Attitude, reliable.
Further, the communication interface modules uses CAN communication mode.
The characteristics of CAN has high-performance and reliability, and be widely used.CAN is realized for dcs
Real-time, reliable data communication provides strong technical support between each node, therefore, Ship Motion Attitude data network
In changing acquisition terminal using CAN communication mode data information transfer to ship information network system, it is ensured that network is respectively saved
Data communication real-time between point.
Further, the circuit of the power module includes that power supply unit, step-down chip, voltage regulator and low voltage difference are steady
Depressor；
Said supply unit is connected with the input of the step-down chip, and the output end of the step-down chip passes through an inductance
Input with the voltage regulator is connected；
The output end voltage of the voltage regulator is VCC, and the output end voltage of the voltage regulator passes through a resistance
It is connected to the detection pin of the voltage regulator；
The output end of the step-down chip is connected with the input of the low-dropout regulator.
Further, the circuit of the data processing module include data processor, voltage reference source chip, button and
Jtag interface；
The data processor is connected with the output end of the voltage regulator, the data processor and the low voltage difference
The output end connection of voltage-stablizer；
Described button one end connects the data processor, other end ground connection；
Described jtag interface one end connects the data processor, another termination VCC；
First pin of the voltage reference source chip connects the data processor, and the of the voltage reference source chip
Two pins connect the VCC, and the three-prong of the voltage reference source chip is by a capacity earth, the voltage reference source core
The output voltage of piece is VREF.
Further, the circuit of the sensor assembly includes multiple acceleration transducers and multiple free degree sensors；
The multiple acceleration transducer is connected to the data processor, and the multiple free degree sensor is connected to institute
State data processor；
The input of the multiple acceleration transducer connects the VCC, the output end of the multiple acceleration transducer
Ground connection；
The output end of the input connection step-down chip of the multiple free degree sensor, the multiple free degree is passed
The output head grounding of sensor.
Further, the circuit of the data processing module also includes the first Dolby circuit and the second Dolby circuit；
One end of first Dolby circuit connects the VCC, the other end ground connection of first Dolby circuit；
One end of second Dolby circuit connects the output end of the low-dropout regulator, second Dolby circuit
The other end is grounded.
The present invention provides a kind of transmission method of Ship Motion Attitude data, including：
Step S1, obtains the data collected by multiple acceleration transducers and multiple free degree sensors；
The data for collecting are carried out Data Fusion by step S2, obtain current Ship Motion Attitude information；
Step S3, obtains data transfer communications authority instruction request；
Step S4, instructs, by the current Ship Motion Attitude information transmission extremely according to the data transfer communications authority
Ship information network system.
The transmission method of the Ship Motion Attitude data that the present invention is provided, its technical scheme is：Obtain by the multiple
The data that acceleration transducer and multiple free degree sensors are collected；The data for collecting are carried out at data fusion
Reason, obtains current Ship Motion Attitude information；Obtain data transfer communications authority instruction request；According to the data transfer communications
Authority is instructed, by the current Ship Motion Attitude information transmission to ship information network system.
The transmission method of the Ship Motion Attitude data that the present invention is provided, employs multiple acceleration transducers and how free
Degree sensor is completed to the accurate acquisition of Ship Motion Attitude, analysis and processed, and by data information transfer to ship information net
In network system, make terminal more accurate for the analysis of Ship Motion Attitude, reliable.
Brief description of the drawings
In order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art, below will be to specific
The accompanying drawing to be used needed for implementation method or description of the prior art is briefly described.
Fig. 1 shows a kind of schematic diagram of Ship Motion Attitude data acquisition device provided by the present invention；
Fig. 2 shows a kind of structural representation of Ship Motion Attitude data acquisition device provided by the present invention；
Fig. 3 shows a kind of power module circuitry principle of Ship Motion Attitude data acquisition device provided by the present invention
Figure；
Fig. 4 shows a kind of data processing module circuit of Ship Motion Attitude data acquisition device provided by the present invention
Schematic diagram；
Fig. 5 shows a kind of ship information network of Ship Motion Attitude data acquisition device that the present invention is provided
System architecture diagram；
Fig. 6 shows a kind of flow chart of the transmission method of Ship Motion Attitude data that the present invention is provided.
Specific embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Technical scheme is clearly illustrated, therefore is intended only as example, and protection of the invention can not be limited with this
Scope.
Embodiment one
Fig. 1 shows a kind of signal of Ship Motion Attitude data acquisition device that first embodiment of the invention is provided
Figure；As shown in figure 1, a kind of Ship Motion Attitude data acquisition device that the embodiment of the present invention one is provided, including：
Data processing module 1, power module 2, sensor assembly 3 and memory module 4；
Sensor assembly 3 includes multiple acceleration transducers and multiple free degree sensors；
Sensor assembly 3, power module 2 and memory module 4 are connected with data processing module 1 respectively；
Data processing module 1 is connected to ship information network system by communication interface modules 5.
Ship Motion Attitude data acquisition device of the invention, its technical scheme is：Data processing module 1, power module
2nd, sensor assembly 3 and the composition Ship Motion Attitude data acquisition device of memory module 4, wherein, sensor assembly 3 includes multiple
Acceleration transducer and multiple free degree sensors；Sensor assembly 3, power module 2 and memory module 4 respectively with data processing
Module 1 is connected；Data processing module 1 is connected to ship information network system by communication interface modules 5.Multiple acceleration are passed
The Ship Motion Attitude data that sensor and multiple free degree sensors are collected, Treatment Analysis are carried out by data processing module 1,
Finally transmit ship information network system.
Ship Motion Attitude data acquisition device of the invention, employs multiple acceleration transducers and multiple degrees of freedom sensing
Device is completed to the accurate acquisition of Ship Motion Attitude, analysis and processed, and by data information transfer to ship information network system
In, make terminal more accurate for the analysis of Ship Motion Attitude, reliable.
Wherein, memory module 4 is used for the Ship Motion Attitude data that storage sensor module 3 is collected.
Preferably, TMS320F2808 data processors are used in data processing module 1.
The processor possesses multi-channel analog/digital signaling interface, thus suitable for the design of multisensor terminal, it is same with this
When, the high-speed computation ability that the processor possesses can meet the analysis of terminal-pair multi-sensor data, the requirement for the treatment of, and in fact
Terminal centralization, intelligent and digitized design requirement are showed.
Preferably, multiple acceleration transducers are MMA7260 3-axis acceleration sensors.
MMA7260 can on tri- axial directions of XYZ with high sensitivity read the falling of low gravitation level, incline, move,
Place, shake and wave, with sensitivity high, the optional sensitivity of MMA7260 allow you in 1.5g, 2g, 4g and 6g not
It is designed in co-extensive, its 3 μ A sleep patterns, the 500 low running currents of μ A, the quick startup response time of 1.0ms and 6mm
Other characteristics such as compact packaging of × 6mm × 1.45QFN more make that the design activity around MMA7260 is easy and convenient, economical and efficient.
Its package dimension very little, only needs less board space, and quick startup and park mode are also provided in addition, and these characteristics make
MMA7260 turns into the choosing using the ideal of battery powered electronic product, including PAD, mobile phone, 3D game and digital camera etc..
Therefore, MMA7260 3-axis acceleration sensors are selected in the present invention carries out the collection of Ship Motion Attitude data, and
The data fusion of multiple sensors, can make terminal more accurate for the analysis of Ship Motion Attitude, reliable.
Preferably, multiple free degree sensors are the free degree attitude transducers of ADIS16407 ten.
Attitude transducer (E.T-ahrs) is the high performance three-dimensional motion attitude measuring system based on MEMS technology.It is included
Three-axis gyroscope, three axis accelerometer (i.e. IMU), the synkinesia sensor such as three axle electronic compass, by the low-power consumption for embedding
The angular speed that arm processor output was calibrated, acceleration, magnetic data etc., are entered by the sensing data algorithm based on quaternary number
Row athletic posture is measured, and the zero shift 3 d pose data represented with quaternary number, Eulerian angles etc. are exported in real time.Pass through
The athletic posture data that the free degree attitude transducers of ADIS16407 ten are collected more comprehensively, are allowed to the motion appearance to testee
State analysis is more accurate.
Therefore, the free degree attitude transducers of ADIS16407 ten are selected in the present invention carries out adopting for Ship Motion Attitude data
Collection, and multiple sensor data fusion, terminal can be made more accurate for the analysis of Ship Motion Attitude, reliable.
Preferably, communication interface modules 5 uses CAN communication mode.
The characteristics of CAN has high-performance and reliability, and be widely used.CAN is realized for dcs
Real-time, reliable data communication provides strong technical support between each node, therefore, Ship Motion Attitude data network
In changing acquisition terminal using CAN communication mode data information transfer to ship information network system, it is ensured that network is respectively saved
Data communication real-time between point.
Illustrated with reference to physical circuit：
It is the circuit theory diagrams of terminal supplying power module 2 of the present invention referring to Fig. 2, total input voltage of the invention is VIN, its electricity
Pressure value is the power supply unit obtained by the series connection of 2 section lithium batteries, and magnitude of voltage is 7.4V；Power supply can also by other means be constituted single
Unit is powered.
Step-down chip U1, its pin 1 is connected with VIN, and pin 3 is output voltage terminal, and its magnitude of voltage is+5V, and pin 4 is grounded
(GND).Electric capacity C1 (470uF) and electric capacity C3 (0.1uF) two ends are connected between VIN and GND respectively, electric capacity C2 (470uF) and electricity
Hold C4 (0.1uF) two ends to be connected between+5V and GND respectively.The two ends of inductance L01 connect the pipe of+5V and voltage regulator U9 respectively
Pin 2.Preferably, voltage regulator is TPS75733, and its pin 1 meets GND, the end of pin 4 and produces+3.3V voltages VCC with pin 3.
R35 (10k Ω) two ends connect the pin 5 and VCC of voltage regulator U9 respectively.
Wherein, supply voltage is adjusted to output end available voltage range, voltage is adjusted under conditions of function needs are met
Section device TPS75733 can be replaced by other voltage regulators.
Preferably, also including C2 (1uF), CT2 (100uF), C121 (1uF), CT6 (10uF), the C128 of a Noise Reduction
After (1uF) and CT3 (100uF), C2 (1uF) and CT2 (100uF) parallel connection, two pins are connected between+5V and GND respectively, C121
After (1uF) and CT6 (10uF) parallel connection, two pins are connected between the pin 2 of voltage regulator U9 and GND respectively.C128 (1uF) and
After CT3 (100uF) parallel connections, two pins are connected between VCC and GND respectively.
Low-dropout regulator U10, it is preferable that low-dropout regulator is SPX1117M3-1.8, its pin 3 meets+5V, pin 1
GND is met, the end of pin 2 produces 1.8V voltages.The operation principle of low-dropout regulator U10 is：Compensate the voltage difference of low voltage operating
Value, makes voltage stabilization ensure normal work；Its pin, can functionally meet regulatory requirements and hardware compatibility；Meeting function
Can be changed under the conditions of needs.
Preferably, also including the C35 (0.1uF) and C34 (100uF) of an antihypertensive effect, its two pin is connected to 1.8V respectively
Between GND.By inductance L1 one end, its other end is designated as VDDA1.8V to 1.8V voltages, VCC voltages by inductance L2 one end,
Its other end is designated as VDDA3.3V, and by inductance L3 one end, its other end is designated as AGND to GND, and+5V voltages are by inductance L0 mono-
End, its other end is designated as VDDA5V.
It is the circuit theory diagrams of terminal data processing module 1 of the present invention referring to Fig. 3.Data processor U2, its pin 3,46,
65th, 82 and 96 meet VCC, pin 10,42,59,68,85,93 meets 1.8V, pin 2,11,41,49,55,62,69,77,87,89,
94 meet GND.Crystal oscillator Y11 is quartz crystal oscillator, and from 20MHz, its two ends connects the pin 86 and 88 of data processor U2 respectively.Electric capacity
C181 (24pF) two ends connect the pin 88 and GND of data processor U2 respectively.Electric capacity C191 (24pF) two ends are connect at data respectively
The pin 86 and GND of reason device U2.The pin 90 of data processor U2 meets GND.
Jtag interface CN31 is 14 pin jtag interfaces, can be met total system normal work and mutually be interconnected by jtag interface
Connect；If without prejudice to normal work can be changed.
Its pin 1 is connected with the pin 74 of data processor U2, and its pin 2 is connected with the pin 84 of data processor U2,
Its pin 3 is connected with the pin 73 of data processor U2, and its pin 7 is connected with the pin 76 of data processor U2, its pin 9 with
The pin 75 of data processor U2 is connected, and its pin 11 is connected with the pin 75 of data processor U2, at its pin 13 and data
The pin 80 of reason device U2 is connected, and its pin 14 is connected with the pin 81 of data processor U2, and its pin 4,8,10,12 meets GND,
Its pin 5 meets VCC.
Resistance R141 (4.7k Ω) two ends meet the pin 81 and VCC of data processor U2, resistance R131 (4.7k Ω) respectively
Two ends connect the pin 80 and VCC of data processor U2, resistance R91 (2.2k Ω) two ends and connect the pipe of data processor U2 respectively respectively
Pin 84 and GND.C23 (0.1uF) two ends connect the pin 26 and AGND of data processor U2 respectively.The pin 26 of data processor U2
VDDA3.3V is met with pin 15.The pin 25,14,13,39 of data processor U2 is connected to AGND.The pin of data processor U2
12 are connected to VDDA1.8V with pin 40.C24 (0.1uF), C25 (0.1uF) two ends are connected between VDDA1.8V and AGND respectively.
R711 (10k Ω) two ends are connected between VCC and the pin 78 of data processor U2 respectively.C681 (0.1uF) two ends are connected to respectively
Between the pin 78 of GND and data processor U2.C721 (22uF) two ends are connected to the pin 78 of GND and data processor U2 respectively
Between.
The two ends of button 51 are connected between GND and the pin 78 of data processor U2 respectively.Pin can be changed by button 51
78 ground state.Button 51 is connected to press and shows that pin 78 is grounded, and button 51 disconnects and shows that pin 78 is earth-free；C17
(2.2uF) two ends connect the pin 37 of AGND and data processor U2 respectively.C16 (2.2uF) two ends connect at AGND and data respectively
The pin 36 of reason device U2.R3 (22.1k Ω) two ends connect the pin 38 of AGND and data processor U2 respectively.Data processor U2's
Pin 24 meets AGND.
Voltage reference source chip U15 is ADR421ARM, and its pin 2 meets+5V.Electric capacity CT8 (10uF), electric capacity C83
(0.1uF) two ends are connected between U15 pins 2 and GND respectively.U15 pins 4 meet GND.U15 pins 6 produce reference voltage to be designated as
VREF.The indirect electric capacity C84 (0.1uF) of U15 pins 4 and pin 6.U15 pins 6 are connected with the pin 35 of data processor U2.
Preferably, also including the first Dolby circuit and the second Dolby circuit, the first Dolby circuit by electric capacity C61 (0.1uF),
C71 (0.1uF), C81 (0.1uF), C91 (0.1uF), C911 (0.1uF), C511 (0.1uF) compositions, its two ends is connected to VCC
Between GND.Second Dolby circuit by electric capacity C101 (0.1uF), C111 (0.1uF), C121 (0.1uF), C131 (0.1uF),
C141 (0.1uF), C142 (0.1uF) are constituted, and its two ends is connected between 1.8V and GND.
Also include, motor drive ic U13, motor drives core to select DRV8837, its function is the G1 electricity of control node A1
Machine.Motor drive ic U13 pins 8 meet VCC, pin 1 and meet+5V, pin 4 and meet GND.
EBI C13 is CAN interface, and its pin 1 connects the pin 6, pin that VCC, pin 2 meet data processor U2
3 connect the pin 7 of data processor U2, pin 4 meets GND, and the interface is connected realization with the communication network of ship information network system
Related data communication.
It is the circuit theory diagrams of end sensor module 3 of the present invention referring to Fig. 4.Acceleration transducer is selected in the present embodiment
Number be 4, the number of free degree Ship Motion Attitude sensor is 2；Wherein, acceleration transducer U3 pins 3 connect
VCC, pin 4 meet GND.Acceleration transducer U3 pins 13 connect the pin 23 of data processor U2, pin 14 and connect data processor
The pin 22 of U2, pin 15 connect the pin 21 of data processor U2, acceleration transducer U3 pins 1 and connect the pipe of data processor U2
Pin 47, pin 2 connect the pin 45 that the pin 44 of data processor U2, pin 12 meet data processor U2.Acceleration transducer U4
Pin 3 meets VCC, pin 4 and meets GND.Acceleration transducer U3 pins 13 connect the pin 20 of data processor U2, pin 14 and connect data
The pin 19 of processor U2, pin 15 connect the pin 18 of data processor U2, acceleration transducer U3 pins 1 and connect data processor
The pin 48 of U2, pin 2 connect the pin 53 that the pin 51 of data processor U2, pin 12 meet data processor U2.Acceleration is passed
Sensor U5 pins 3 meet VCC, pin 4 and meet GND.Acceleration transducer U3 pins 13 connect the pin 17 of data processor U2, pin 14
Connect the pin 16 of data processor U2, pin 15 and connect the pin 27 of data processor U2, acceleration transducer U3 pins 1 and connect data
The pin 56 of processor U2, pin 2 connect the pin 60 that the pin 58 of data processor U2, pin 12 meet data processor U2.Plus
Velocity sensor U6 pins 3 meet VCC, pin 4 and meet GND.Acceleration transducer U6 pins 13 connect data processor U2 pin 28,
Pin 14 connects the pin 29 of data processor U2, pin 15 and connects the pin 30 of data processor U2, acceleration transducer U6 pins 1
Connect the pin 61 of data processor U2, pin 2 and connect the pin that the pin 64 of data processor U2, pin 12 meet data processor U2
70。
Free degree Ship Motion Attitude sensor U12 is 10 free degree Ship Motion Attitude sensors A DIS16407, its pipe
Pin 1 is connected with the pin 8 of data processor U2, pin 2 is connected with the pin 9 of data processor U2, pin 3 and data processor
The pin 54 of U2 is connected, pin 4 is connected with the pin 52 of data processor U2, pin 5 connects with the pin 50 of data processor U2
Connect, pin 6 is connected with the pin 57 of data processor U2, pin 7 is connected with the pin 1 of data processor U2, pin 8 and data
The pin 92 of processor U2 is connected, pin 9 is connected with the pin 95 of data processor U2, the pipe of pin 21 and data processor U2
Pin 32 is connected.Free degree Ship Motion Attitude sensor U12 pins 10,11,12 meet+5V.Free degree Ship Motion Attitude is sensed
Device U12 pins 13,14,15 meet GND.The pipe of free degree Ship Motion Attitude sensor U11, its pin 1 and data processor U2
Pin 99 is connected, pin 2 is connected with the pin 79 of data processor U2, pin 3 is connected with the pin 71 of data processor U2, pin
4 are connected with the pin 67 of data processor U2, pin 5 is connected with the pin 63 of data processor U2, pin 6 and data processor
The pin 72 of U2 is connected, pin 7 is connected with the pin 83 of data processor U2, pin 8 connects with the pin 4 of data processor U2
Connect, pin 9 is connected with the pin 91 of data processor U2, pin 21 is connected with the pin 31 of data processor U2.Free degree ship
Oceangoing ship athletic posture sensor U11 pins 10,11,12 meet+5V.Free degree Ship Motion Attitude sensor U11 pins 13,14,15
Meet GND.
It is ship information network architecture block diagram referring to Fig. 5, the sensor node in figure obtains the number of bottom sensor
It is believed that ceasing and data analysis and data fusion being carried out to it, and then accuracy information higher is obtained, and sent it to corresponding
Data flow in, system receives sensor and sensor node data and integrates the data flow for uploading, and then system enters row information
Treatment, then sends commands to actuator node, and actuator is distributed to by data processing again by actuator node.
Referring to Fig. 6, the invention provides a kind of transmission method of Ship Motion Attitude data, including：
Step S1, obtains the data collected by multiple acceleration transducers and multiple free degree sensors；
Step S2, the data to collecting carry out Data Fusion, obtain current Ship Motion Attitude information；
Step S3, obtains data transfer communications authority instruction request；Terminal obtains the communication authority request of data transfer, please
Ask and transfer data to ship information network system, only permitted, can just carry out data transmission, it is ensured that the peace of data transfer
Quan Xing.
Step S4, instructs, by current Ship Motion Attitude information transmission to ship information according to data transfer communications authority
Network system.
The transmission method of the Ship Motion Attitude data that the present invention is provided, its technical scheme is：Obtain and accelerated by multiple
The data that degree sensor and multiple free degree sensors are collected；Data to collecting carry out Data Fusion, are worked as
Preceding Ship Motion Attitude information；Obtain data transfer communications authority instruction request；Instructed according to data transfer communications authority, ought
Preceding Ship Motion Attitude information transmission is to ship information network system.Ship information network system is according to the ship after collection analysis
Athletic posture information, the further motion of control ship, the attitude of ship infomation detection that the data that the present invention is collected ensure
Accuracy and real-time, move ship more safe and reliable.
Preferably, current Ship Motion Attitude information is sent to ship information network system by CAN interface bus.
The transmission method of the Ship Motion Attitude data that the present invention is provided, employs multiple acceleration transducers and how free
Degree sensor is completed to the accurate acquisition of Ship Motion Attitude, analysis and processed, and by data information transfer to ship information net
In network system, make terminal more accurate for the analysis of Ship Motion Attitude, reliable.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it all should cover in the middle of the scope of claim of the invention and specification.
Claims (10)
1. Ship Motion Attitude data acquisition device, it is characterised in that including：Data processing module, power module, sensor die
Block and memory module；
The sensor assembly includes multiple acceleration transducers and multiple free degree sensors；
The sensor assembly, power module and memory module are connected with the data processing module respectively；
The data processing module is connected to ship information network system by communication interface modules.
2. Ship Motion Attitude data acquisition device according to claim 1, it is characterised in that
TMS320F2808 data processors are used in the data processing module.
3. Ship Motion Attitude data acquisition device according to claim 1, it is characterised in that
The multiple acceleration transducer is MMA7260 3-axis acceleration sensors.
4. Ship Motion Attitude data acquisition device according to claim 1, it is characterised in that
The multiple free degree sensor is the free degree attitude transducers of ADIS16407 ten.
5. Ship Motion Attitude data acquisition device according to claim 1, it is characterised in that
The communication interface modules uses CAN communication mode.
6. Ship Motion Attitude data acquisition device according to claim 1, it is characterised in that
The circuit of the power module includes power supply unit, step-down chip, voltage regulator and low-dropout regulator；
Said supply unit is connected with the input of the step-down chip, and the output end of the step-down chip passes through an inductance and institute
State the input connection of voltage regulator；
The output end voltage of the voltage regulator is VCC, and the output end voltage of the voltage regulator is connected by a resistance
To the detection pin of the voltage regulator；
The output end of the step-down chip is connected with the input of the low-dropout regulator.
7. Ship Motion Attitude data acquisition device according to claim 6, it is characterised in that
The circuit of the data processing module includes data processor, voltage reference source chip, button and jtag interface；
The data processor is connected with the output end of the voltage regulator, the data processor and the low voltage difference voltage stabilizing
The output end connection of device；
Described button one end connects the data processor, other end ground connection；
Described jtag interface one end connects the data processor, another termination VCC；
First pin of the voltage reference source chip connects the data processor, the second pipe of the voltage reference source chip
Pin connects the VCC, and the three-prong of the voltage reference source chip passes through a capacity earth, the voltage reference source chip
Output voltage is VREF.
8. Ship Motion Attitude data acquisition device according to claim 7, it is characterised in that
The circuit of the sensor assembly includes multiple acceleration transducers and multiple free degree sensors；
The multiple acceleration transducer is connected to the data processor, and the multiple free degree sensor is connected to the number
According to processor；
The input of the multiple acceleration transducer connects the VCC, the output head grounding of the multiple acceleration transducer；
The output end of the input connection step-down chip of the multiple free degree sensor, the multiple free degree sensor
Output head grounding.
9. Ship Motion Attitude data acquisition device according to claim 6, it is characterised in that
The circuit of the data processing module also includes the first Dolby circuit and the second Dolby circuit；
One end of first Dolby circuit connects the VCC, the other end ground connection of first Dolby circuit；
One end of second Dolby circuit connects the output end of the low-dropout regulator, second Dolby circuit it is another
End ground connection.
10. the transmission method of Ship Motion Attitude data, it is characterised in that
Step S1, obtains the data collected by multiple acceleration transducers and multiple free degree sensors；
The data for collecting are carried out Data Fusion by step S2, obtain current Ship Motion Attitude information；
Step S3, obtains data transfer communications authority instruction request；
Step S4, instructs, by the current Ship Motion Attitude information transmission to ship according to the data transfer communications authority
Information network system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710108918.1A CN106919106A (en) | 2017-02-27 | 2017-02-27 | Ship Motion Attitude data acquisition device and transmission method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710108918.1A CN106919106A (en) | 2017-02-27 | 2017-02-27 | Ship Motion Attitude data acquisition device and transmission method |
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| CN201710108918.1A Pending CN106919106A (en) | 2017-02-27 | 2017-02-27 | Ship Motion Attitude data acquisition device and transmission method |
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| CN111693019A (en) * | 2020-05-20 | 2020-09-22 | 西安交通大学 | Attitude sensing device and data fusion and attitude calculation method |
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Application publication date: 20170704 |