CN108344421B - Ship-based coordinate system and establishment method thereof - Google Patents
Ship-based coordinate system and establishment method thereof Download PDFInfo
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- CN108344421B CN108344421B CN201810354083.2A CN201810354083A CN108344421B CN 108344421 B CN108344421 B CN 108344421B CN 201810354083 A CN201810354083 A CN 201810354083A CN 108344421 B CN108344421 B CN 108344421B
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000003908 quality control method Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 description 27
- 238000010586 diagram Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000013507 mapping Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
Abstract
The invention relates to a method for establishing a ship-based coordinate system, which comprises the following steps: installing a positioning system, an attitude sensor and a transducer at different positions of a measuring vessel; two ends of the telescopic fixed rod are respectively arranged on the range finder and the transducer; the distance measuring machine respectively measures the distance and the direction of the positioning system, the attitude sensor and the transducer relative to the distance measuring machine; and calculating coordinates of the positioning system, the attitude sensor and the transducer by taking the positioning system, the attitude sensor or the transducer as an origin, and constructing the ship-based coordinate system. According to the invention, ranging operation can be performed anytime and anywhere, so that the ranging precision is improved, and the error in the process of establishing the ship coordinate system is reduced; the ship body coordinate data is obtained quickly and conveniently; the quality control of the ranging system is facilitated, and the operation efficiency is improved.
Description
Technical Field
The invention relates to the field of mapping geospatial coordinates, in particular to a ship-based coordinate system and an establishment method thereof.
Background
The measuring ship works under the motion state, in order to provide accurate data of water depth, water bottom topography and the like, the measuring ship is provided with a multi-beam sounding and other ranging system, key components of the ranging system are high-precision positioning measuring equipment and the like, and the measuring ship is a reference of the position and the measuring direction of the whole ship, so that the distance to be measured can be measured continuously and accurately.
In the prior art, a measuring tape is mostly adopted to manually measure the coordinate position of the measuring equipment, a certain measuring error exists in manual measurement, and error data are brought into a ranging system, so that the quality of the measuring result of the ranging system is reduced.
Therefore, it is highly desirable to provide a ship-based coordinate system and a method for establishing the same, so as to solve the problem of reduced measurement quality of the ranging system caused by inaccurate measurement of the coordinates of the measuring device in the prior art.
Disclosure of Invention
The invention aims to provide a ship-based coordinate system and an establishment method thereof, which are used for solving the problem that the measurement quality of a ranging system is reduced due to inaccurate measurement of coordinates of measuring equipment in the prior art.
In order to solve the problems in the prior art, the invention provides a method for establishing a ship-based coordinate system, which comprises the following steps:
s1: installing a positioning system, an attitude sensor and a transducer at different positions of a measuring vessel;
s2: two ends of the telescopic fixed rod are respectively arranged on the range finder and the transducer;
s3: the distance measuring machine respectively measures the distance and the direction of the positioning system, the attitude sensor and the transducer relative to the distance measuring machine, measures the distance from the attitude sensor to the straight line where the transducer and the distance measuring machine are positioned, and measures the included angle between the straight line where the transducer and the distance measuring machine are positioned and the appointed surface of the distance measuring machine;
s4: and calculating coordinates of the positioning system, the attitude sensor and the transducer by taking the positioning system, the attitude sensor or the transducer as an origin, and constructing the ship-based coordinate system.
Optionally, in the method for establishing a ship-based coordinate system, the range finder includes two ranging barrels, one ends of the two ranging barrels are fixed at the same fixed point, and the other ends of the two ranging barrels rotate around the fixed point as an axis.
Optionally, in the method for establishing a ship-based coordinate system, the ranging barrel is a laser ranging barrel.
Optionally, in the method for establishing a ship-based coordinate system, in step S3, the method includes:
the ranging lens barrel is aligned with the positioning system and the attitude sensor respectively so as to measure the distance between the positioning system and the attitude sensor and the distance measuring machine, and the included angle between the straight line where the positioning system and the distance measuring machine are positioned and the straight line where the attitude sensor and the distance measuring machine are positioned;
the ranging lens barrel is aligned with the positioning system and the transducer respectively so as to measure the distance between the positioning system and the transducer and the ranging machine, and the included angle between the straight line where the positioning system and the ranging machine are positioned and the straight line where the transducer and the ranging machine are positioned;
the ranging lens barrel is respectively aligned with the attitude sensor and the transducer so as to measure the distance from the attitude sensor and the transducer to the range finder, and the included angle between the straight line where the attitude sensor and the range finder are positioned and the straight line where the transducer and the range finder are positioned.
Optionally, in the method for establishing a ship-based coordinate system, after executing S3, the method further includes the following steps: and according to the data obtained by the distance measuring machine, calculating the average value of the distances between the same devices.
Optionally, in the method for establishing a ship-based coordinate system, in step S4, coordinates of the positioning system, the attitude sensor and the transducer are calculated according to the measured angle and the calculated average value.
Optionally, in the method for establishing a ship-based coordinate system, the distance measuring machine is disposed directly above the transducer.
Optionally, in the method for establishing a ship-based coordinate system, the distance measuring machine includes an indication rod, and the surface designated by the distance measuring machine is a line where the indication rod is located and a surface where the transducer is located.
A ship based coordinate system comprising:
positioning system, attitude sensor, transducer and range finder mounted at different positions of measuring vessel, coordinates of the positioning system, attitude sensor, transducer and range finder being set to be a (X A ，Y A ，Z A )，B(X B ，Y B ，Z B )，C(X C ，Y C ，Z C ) And D (X) D ，Y D ，Z D ) Then the method can be satisfied,
wherein l 1 Representing a distance of the transducer to the rangefinder; l (L) 2 Representing a distance from the attitude sensor to the range finder; l (L) 3 Representing a distance of the positioning system to the rangefinder; alpha represents < CDB; θ represents +.ADC; beta represents ADB; gamma represents the angle between the line in which the transducer and the rangefinder are located and the surface specified by the rangefinder.
Optionally, in the ship-based coordinate system, the distance measuring machine includes an indication rod, and the designated surface of the distance measuring machine is a line on which the indication rod is located and a surface on which the transducer is located.
In the ship-based coordinate system and the establishment method thereof provided by the invention, a positioning system, an attitude sensor and a transducer are arranged at different positions of a measuring ship; measuring the distance and the angle between the devices in the system through a ranging lens; which is advantageous in making the measurement result more accurate. Calculating the position relationship among the devices in the system by defining the distance and the angle among the devices in the system, so as to calculate the coordinates of the positioning system, the attitude sensor and the transducer; and constructing the ship-based coordinate system through coordinates. According to the ship-based coordinate system, the ship-based coordinate system can be built only by a single person to operate, so that ship-based coordinate data can be obtained quickly; the method has the advantages that the measurement work becomes convenient and quick, the distance measurement operation can be performed anytime and anywhere, the distance measurement precision is improved, the error in the process of establishing the ship-based coordinate system is reduced, the quality control of the distance measurement system is facilitated, and the operation efficiency is improved.
Drawings
FIG. 1 is a side view of a ship-based coordinate system apparatus according to an embodiment of the present invention;
FIG. 2 is a top view of a ship-based coordinate system apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a coordinate system of a ship base according to an embodiment of the present invention;
fig. 4 is a schematic front view of a range finder according to an embodiment of the present invention;
FIG. 5 is a top view of FIG. 4 provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of a distance measuring machine according to an embodiment of the present invention;
wherein, 1-positioning the system; 2-attitude sensor; a 3-transducer; 4-a distance measuring machine; 41-a display screen; 42-measuring button; 43-select button; 44-a detachable rear cover; 45-indicating rod; 46-indicating rod adjustment assembly; 47-a range barrel; 48-a barrel adjustment assembly; 49-a fixed rod connection member.
Detailed Description
Specific embodiments of the present invention will be described in more detail below with reference to the drawings. Advantages and features of the invention will become more apparent from the following description and claims. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention.
Referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, and fig. 6, fig. 1 is a side view illustrating placement of a ship-based coordinate system device according to an embodiment of the present invention; FIG. 2 is a top view of a ship-based coordinate system apparatus according to an embodiment of the present invention; FIG. 3 is a schematic diagram of a coordinate system of a ship base according to an embodiment of the present invention; fig. 4 is a schematic front view of a range finder according to an embodiment of the present invention; FIG. 5 is a top view of FIG. 4 provided by an embodiment of the present invention; fig. 6 is a schematic diagram of a distance measuring machine according to an embodiment of the present invention.
As shown in fig. 1 and 2, the invention provides a method for establishing a ship-based coordinate system, which comprises the following steps:
s1: installing a positioning system, an attitude sensor and a transducer at different positions of a measuring vessel;
s2: two ends of the telescopic fixed rod are respectively arranged on the range finder and the transducer;
s3: the distance measuring machine respectively measures the distance and the direction of the positioning system, the attitude sensor and the transducer relative to the distance measuring machine, measures the distance from the attitude sensor to the straight line where the transducer and the distance measuring machine are positioned, and measures the included angle between the straight line where the transducer and the distance measuring machine are positioned and the appointed surface of the distance measuring machine;
s4: and calculating coordinates of the positioning system, the attitude sensor and the transducer by taking the positioning system, the attitude sensor or the transducer as an origin, and constructing the ship-based coordinate system.
In the method for establishing the ship-based coordinate system provided by the invention, the measuring equipment comprises a positioning system 1, an attitude sensor 2 and a transducer 3, and the ship-based coordinate system is established by determining the coordinates of the measuring equipment. The ship-based coordinate system can be applied to various ranging systems, and the ranging system can perform ranging operation anytime and anywhere; during measurement, the transducer 3 is arranged on the matched telescopic fixed rod, so that deviation of a measurement center caused by artificial shaking when an operator holds the instrument is avoided, and the distance measurement precision is improved. Meanwhile, manpower, material resources and time are saved, and the position relation among the transducer 3, the attitude sensor 2 and the positioning system 1 in the ship-based coordinate system can be rapidly obtained only by single operation; the quality of the measured data is favorably controlled, and the operation efficiency is improved.
In the method for establishing a ship-based coordinate system provided by the present invention, the distance measuring machine 4 includes: the device comprises a body, a display screen 41, a measuring button 42, a selection button 43, a detachable rear cover 44, an indication rod 45, an indication rod adjusting assembly 46, two ranging barrels 47, a barrel adjusting assembly 48 and a fixed rod connecting part 49.
The machine body is in a three-dimensional shape and comprises two opposite planes, namely a front surface and a back surface; as shown in fig. 5, the display 41, the measurement button 42, and the selection button 43 are provided on the front surface of the main body; the detachable rear cover 44 is arranged on the surface of the machine body; as shown in fig. 4, the indication rod 45 and the indication rod adjusting assembly 46 are disposed at the side wall of the body, and the indication rod adjusting assembly 46 is disposed at the end of the indication rod 45. As shown in fig. 6, the range finder 4 includes two range barrels 47, one ends of the two range barrels 47 are fixed at the same fixed point, and the other ends rotate around the fixed point. Further, a lens barrel adjusting assembly 48 and a fixing rod connecting member 49 are provided at the fixing point.
The display 41 is used for displaying an interface, measurement results and the like; the measurement button 42 is used to determine a measurement action; the selection button 43 is used for selecting a measurement mode; the detachable rear cover 44 can be detached to supply electric quantity to the distance measuring machine 4; the indication rod 45 and the indication rod adjusting component 46 are used for indicating the direction and the like; the ranging tube 47 is aligned with the device to be measured to measure the distance and angle of the device to be measured; preferably, the ranging tube 47 is a laser ranging tube, so as to have a penetration capability. The lens barrel adjusting assembly 48 is used for adjusting the direction of the range lens barrel 47; the fixing rod connecting member 49 is provided at the fixing point to determine that the vertex of the angle to be measured is unchanged, and the fixing rod connecting member 49 is used for installing the telescopic fixing rod. The display 41 may display a measurement mode, other settings, etc., and the selection button 43 selects the best measurement mode by selecting the up-down, left-right, and selection function keys, so that the measurement data is more accurate.
Preferably, the distance measuring machine 4 is arranged right above the transducer 3, so that the horizontal coordinates of the distance measuring machine 4 and the transducer 3 are the same in a coordinate system, and the coordinates of the positioning system 1, the attitude sensor 2 and the transducer 3 are conveniently calculated.
In the method for establishing a ship-based coordinate system according to the present invention, in step S3, the ranging barrel 47 is aligned with the positioning system 1 and the attitude sensor 2, respectively, to measure the distances l from the positioning system 1 and the attitude sensor 2 to the range finder 4 3 And l 2 And an included angle beta between a straight line where the positioning system 1 and the distance measuring machine 4 are positioned and a straight line where the gesture sensor 2 and the distance measuring machine 4 are positioned.
Further, the ranging barrel 47 is aligned with the positioning system 1 and the transducer 3, respectively, to measure the distance l of the positioning system 1 and the transducer 3 to the range finder 4 3 And l 1 And an included angle theta between a straight line where the positioning system 1 and the distance measuring machine 4 are positioned and a straight line where the transducer 3 and the distance measuring machine 4 are positioned.
Further, the ranging barrel 47 is aligned with the attitude sensor 2 and the transducer 3, respectively, to measure the attitude sensor 2 and the transductionDistance l of the distance meter 3 from the distance meter 4 2 And l 1 And an included angle alpha between a straight line where the attitude sensor 2 and the distance measuring machine 4 are positioned and a straight line where the transducer 3 and the distance measuring machine 4 are positioned.
Further, a distance perpendicular point E from the attitude sensor 2 to the straight line where the transducer 3 and the distance measuring device 4 are located is obtained, the distance measuring device 4 is moved to the distance perpendicular point E through the telescopic fixed rod, and then the indication rod 45 on the same plane with the straight line where the transducer 3 and the distance measuring device are located is automatically ejected. Specifically, the surface designated by the distance measuring machine 4 is a straight line where the indication rod 45 is located, a vertical point where the distance measuring machine 4 is located at the moment, and a surface where the transducer 3 is located, and an included angle gamma between the straight line where the transducer 3 and the distance measuring machine 4 are located and the surface designated by the distance measuring machine 4 is measured.
Preferably, due to the distance l 1 、l 2 And l 3 Two measurements are made separately, and in order to make the measurement result more accurate, after performing S3, the method further comprises the steps of: from the data obtained by the rangefinder 4, the average value of the distances between the same devices is calculated.
In the method for establishing the ship-based coordinate system provided by the invention, in step S4, coordinates of the positioning system 1, the attitude sensor 2 and the transducer 3 are calculated by taking the positioning system 1, the attitude sensor 2 or the transducer 3 as an origin according to the measured angle and the calculated average value, so as to construct the ship-based coordinate system.
The invention provides a ship-based coordinate system, comprising:
positioning system, attitude sensor, transducer and range finder mounted at different positions of measuring vessel, coordinates of the positioning system, attitude sensor, transducer and range finder being set to be a (X A ，Y A ，Z A )，B(X B ，Y B ，Z B )，C(X C ，Y C ，Z C ) And D (X) D ，Y D ，Z D ) Then the method can be satisfied,
wherein l 1 Representing a distance of the transducer to the rangefinder; l (L) 2 Representing a distance from the attitude sensor to the range finder; l (L) 3 Representing a distance of the positioning system to the rangefinder; alpha represents < CDB; θ represents +.ADC; beta represents ADB; gamma represents the angle between the line in which the transducer and the rangefinder are located and the surface specified by the rangefinder. l (L) 1 ，l 2 ，l 3 All six parameters α, β, θ can be measured by the rangefinder 4.
Further, a distance perpendicular point E from the attitude sensor 2 to the straight line where the transducer 3 and the distance measuring machine 4 are located is obtained, and the distance measuring machine 4 is moved to the distance perpendicular point E through the telescopic fixed rod. Preferably, the distance measuring device 4 comprises an indication rod 45, and the straight line of the indication rod 45 is in the same plane with the transducer 3. And measuring an included angle gamma between the straight line of the transducer 3 and the range finder 4 and the straight line of the indicating rod 45 and the plane of the transducer 3.
Then, the coordinates of the positioning system 1, the attitude sensor 2 and the transducer 3 can be obtained by carrying out equation solving according to the known 7 parameters.
Specifically, the coordinates of the positioning system 1, the attitude sensor 2, and the transducer 3 may be calculated using any one of the transducer 3, the positioning system 1, and the attitude sensor 2 as an origin. Referring to fig. 3, in this embodiment, the coordinate point of the transducer 3 is used as the origin of the coordinate system, so as to facilitate calculation.
In general, the coordinates of the transducer 3, based on the determined positioning system 1, attitude sensor 2, establish the ship-based coordinate system, which can be used in various ranging systems.
In summary, in the ship-based coordinate system and the method for establishing the same provided by the invention, a positioning system, an attitude sensor and a transducer are arranged at different positions of a measuring ship; measuring the distance and the angle between the devices in the system through a ranging lens; which is advantageous in making the measurement result more accurate. Calculating the position relationship among the devices in the system by defining the distance and the angle among the devices in the system, so as to calculate the coordinates of the positioning system, the attitude sensor and the transducer; and constructing the ship-based coordinate system through coordinates. According to the ship-based coordinate system, the ship-based coordinate system can be built only by a single person to operate, so that ship-based coordinate data can be obtained quickly; the method has the advantages that the measurement work becomes convenient and quick, the distance measurement operation can be performed anytime and anywhere, the distance measurement precision is improved, the error in the process of establishing the ship-based coordinate system is reduced, the quality control of the distance measurement system is facilitated, and the operation efficiency is improved.
The foregoing is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any person skilled in the art will make any equivalent substitution or modification to the technical solution and technical content disclosed in the invention without departing from the scope of the technical solution of the invention, and the technical solution of the invention is not departing from the scope of the invention.
Claims (6)
1. The method for establishing the ship-based coordinate system is characterized by comprising the following steps of:
s1: installing a positioning system, an attitude sensor and a transducer at different positions of a measuring vessel;
s2: two ends of the telescopic fixed rod are respectively arranged on the range finder and the transducer;
s3: the distance measuring device is used for measuring the distance and the direction of the positioning system, the attitude sensor and the transducer relative to the distance measuring device, measuring the distance from the attitude sensor to the straight line where the transducer and the distance measuring device are located, obtaining the distance perpendicular point from the attitude sensor to the straight line where the transducer and the distance measuring device are located, moving the distance measuring device to the distance perpendicular point through the telescopic fixed rod, and measuring the included angle between the straight line where the transducer and the distance measuring device are located and the surface appointed by the distance measuring device; the range finder comprises an indication rod, wherein the indication rod, the energy converter and the straight line where the range finder are located on the same plane, and the specified surface of the range finder is the straight line where the indication rod is located, the vertical point where the range finder is located and the surface where the energy converter is located at the moment; the range finder comprises two range finder barrels, wherein one ends of the two range finder barrels are fixed at the same fixed point, and the other ends of the two range finder barrels rotate by taking the fixed point as an axis;
the ranging lens barrel is aligned with the positioning system and the attitude sensor respectively so as to measure the distance between the positioning system and the attitude sensor and the distance measuring machine, and the included angle between the straight line where the positioning system and the distance measuring machine are positioned and the straight line where the attitude sensor and the distance measuring machine are positioned;
the ranging lens barrel is aligned with the positioning system and the transducer respectively so as to measure the distance between the positioning system and the transducer and the ranging machine, and the included angle between the straight line where the positioning system and the ranging machine are positioned and the straight line where the transducer and the ranging machine are positioned;
the ranging lens barrel is aligned with the attitude sensor and the transducer respectively so as to measure the distance between the attitude sensor and the transducer and the range finder, and the included angle between the straight line where the attitude sensor and the range finder are positioned and the straight line where the transducer and the range finder are positioned;
s4: and calculating coordinates of the positioning system, the attitude sensor and the transducer by taking the positioning system, the attitude sensor or the transducer as an origin, and constructing the ship-based coordinate system.
2. The method of establishing a ship-based coordinate system of claim 1, wherein the range finder is a laser range finder.
3. The method of establishing a ship-based coordinate system according to claim 1, further comprising the steps of, after performing S3: and according to the data obtained by the distance measuring machine, calculating the average value of the distances between the same devices.
4. A method of establishing a ship-based coordinate system according to claim 3, wherein in step S4, coordinates of the positioning system, the attitude sensor and the transducer are calculated based on the measured angle and the calculated average value.
5. A method of establishing a ship-based coordinate system according to claim 1, wherein the rangefinder is disposed directly above the transducer.
6. A ship based coordinate system for implementing a method of establishing a ship based coordinate system according to any one of claims 1 to 5, comprising:
positioning system, attitude sensor, transducer and range finder mounted at different positions of measuring vessel, coordinates of the positioning system, attitude sensor, transducer and range finder being set to be a (X A ，Y A ，Z A )，B(X B ，Y B ，Z B )，C(X C ，Y C ，Z C ) And D (X) D ，Y D ，Z D ) Then the method can be satisfied,
wherein l 1 Representing a distance of the transducer to the rangefinder; l (L) 2 Representing a distance from the attitude sensor to the range finder; l (L) 3 Representing a distance of the positioning system to the rangefinder; alpha represents < CDB; θ represents +.ADC; beta represents ADB; gamma represents the angle between the line in which the transducer and the rangefinder are located and the surface specified by the rangefinder.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102305621A (en) * | 2011-07-18 | 2012-01-04 | 北京航天福道高技术股份有限公司 | Hydrological comprehensive measurement device |
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| US7451022B1 (en) * | 2006-12-28 | 2008-11-11 | Lockheed Martin Corporation | Calibration of ship attitude reference |
| US10578441B2 (en) * | 2016-03-31 | 2020-03-03 | Cameron International Corporation | Subsea navigation systems and methods |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102305621A (en) * | 2011-07-18 | 2012-01-04 | 北京航天福道高技术股份有限公司 | Hydrological comprehensive measurement device |
Non-Patent Citations (1)
| Title |
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| 超短基线声学定位系统的校准技术研究;唐秋华等;《声学技术》;20060831(第04期);正文第1-3节 * |
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