CN114935344A - Attitude angle dynamic alignment method for ship navigation system - Google Patents
Attitude angle dynamic alignment method for ship navigation system Download PDFInfo
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- CN114935344A CN114935344A CN202210462482.7A CN202210462482A CN114935344A CN 114935344 A CN114935344 A CN 114935344A CN 202210462482 A CN202210462482 A CN 202210462482A CN 114935344 A CN114935344 A CN 114935344A
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- 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
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Abstract
The invention provides a dynamic alignment method of attitude angles for a ship navigation System, which is characterized in that a true value of a ship heading angle is obtained by utilizing GNSS (Global navigation satellite System) equipment erected on a fore-aft line reference of a platform, a true value of a ship longitudinal and transverse rocking angle is obtained by utilizing a tilt measuring sensor arranged on a main reference platform, navigation attitude angle information is obtained by utilizing a ship recording device, and a zero error of the attitude angle of the navigation System is obtained by interpolation correction and statistical analysis under a uniform time reference, so that the electric zero of the navigation System is corrected on line, and the aim of alignment is fulfilled.
Description
Technical Field
The invention belongs to the technical field of zero alignment of ship special systems, and particularly relates to a dynamic alignment method for attitude angles of a ship navigation system.
Background
The alignment is the key work for ensuring the hitting accuracy of the ship special system, and the alignment range includes the key parameters of a plurality of key equipment which influence the use efficiency, such as a sighting device bulwark angle, an elevation angle, a detector azimuth, a distance, an elevation angle, a navigation attitude angle and the like. The ship navigation system is responsible for providing the real-time attitude of the platform to each electronic device of the ship so as to ensure the detection and aiming accuracy of each electronic device. Therefore, the accuracy of the attitude angle zero position of the navigation system is crucial, and the attitude angle zero position alignment work of the navigation system is required to be performed in advance in the mooring test stage in the ship development process. Generally, the method is completed by adopting an optical means under the condition that a ship is in a half pier in a dock, and the main methods comprise a gyroscope theodolite method, an electronic level method and the like.
The attitude angle alignment comprises heading angle alignment and longitudinal-transverse rocking angle alignment, and the main process comprises the following steps: under the state of a half pier in the platform dock, the gyro theodolite is erected on the basis of the fore-aft line of the platform, the north-seeking function of the gyro theodolite is utilized to obtain the true value of the heading angle of the ship, the gyro theodolite is arranged at a north reference mirror of the navigation system, the self-collimation function of the gyro theodolite is utilized to adjust the mechanical and electrical zero positions of the navigation system to be consistent with the fore-aft line, and the aim of aligning the zero positions of the heading angle is fulfilled. The electronic level meter is arranged in the longitudinal and transverse directions of the main reference platform, the true values of the longitudinal and transverse angles of the ship are obtained by utilizing the angle measurement function of the electronic level meter, then the electronic level meter is arranged on the attitude reference plane of the navigation system, and the mechanical and electrical zero positions of the navigation system are adjusted, so that the aim of zero position alignment of the longitudinal and transverse angles is fulfilled.
The method has the advantages of high precision, good repeatability and simple operation. However, the ship needs to be in a semi-seated pier state in the dock, namely a static state, and the requirement of the semi-seated pier state in the dock is difficult to meet in units such as a user and a guarantee department of the ship after sailing, so that the applicability of the method is greatly reduced, and the method is only suitable for alignment work in the ship construction stage, but is difficult to popularize and apply in the guarantee period of the ship during sailing.
Disclosure of Invention
The invention aims to solve the technical problems and provides a dynamic alignment method for attitude angles of a ship navigation system, which is not limited by a half-seated pier in a dock, is convenient and quick, can realize on-line zero position detection and calibration of equipment, and can meet the normalized zero position alignment requirement of the current underway ship navigation system.
The technical scheme adopted by the invention for solving the technical problems is as follows: an attitude angle dynamic alignment method for a ship navigation system is characterized by comprising the following steps:
s1) acquisition of navigation system attitude angle information:
starting a ship inertial navigation system, outputting ship attitude angle information when time synchronization with time equipment is completed, starting a ship recording device, and completing recording and recording of the information;
s2) measurement of the true value of the heading angle:
a real value of a ship heading angle is obtained by using global navigation satellite system) equipment erected on the fore-aft line reference of the platform;
s3) measurement of true values of pitch and roll angles:
acquiring a ship pitch true value and a ship roll true value by an inclination measuring sensor arranged on a main reference platform;
s4) data processing and zero correction:
under the unified time reference, the zero error of the attitude angle of the navigation system is obtained through interpolation correction and statistical analysis, and the zero error is used for the online correction of the electrical zero of the navigation system.
According to the scheme, the ship attitude angle information in the step S1 comprises time information, heading angle, pitching angle and rolling angle information which are marked as (t, psi, theta, gamma).
According to the scheme, the step S2 includes the following contents: arranging a reference station of global navigation satellite system equipment on a post-ship bow-stern line reference mark point, arranging a mobile station on the post-ship bow-stern line reference mark point, respectively centering and leveling, recording satellite observation data after stable startup, and resolving the satellite observation data into a bow-stern line with a timestampThe azimuth angle, i.e. the true value of the ship's heading angle, is noted as (t, ψ) z )。
According to the scheme, the step S3 includes the following contents: the inclination measuring sensor is started, after time synchronization and zero adjustment are completed, the inclination measuring sensor A is arranged in the 0-degree ship bow direction of the main reference platform in an orthogonal mode, the inclination measuring sensor B is arranged in the 270-degree port direction of the main reference platform, the levelness data measured by the two inclination measuring sensors with time stamps are measured and recorded by utilizing the function that the inclination measuring sensors can measure the horizontal angle between a plane and a current ground level, the levelness data in the 0-degree ship bow direction is a true value of a pitch angle, the levelness data in the 270-degree port direction is a true value of a roll angle, and the true value of the roll angle is recorded as (t, theta) z ,γ z )。
According to the scheme, the step S4 includes the following contents: summarizing the attitude angle truth value data with time stamp and the navigation system attitude angle data, and carrying out linear interpolation algorithm to obtain the truth value (t, psi) at the same time z ,θ z ,γ z ) Comparing with the measured values (t, psi, theta, gamma), and calculating the mean value (t, psi) of the first difference of the attitude angles s ,θ s ,γ s ) Namely the zero error of the attitude angle of the navigation system, correcting the zero of the attitude angle of the ship navigation system according to the zero error, and repeating the process until the tolerance requirement is met, wherein (t, psi) s ,θ s ,γ s )＝(t,ψ,θ,γ)-(t,ψ z ,θ z ,γ z )。
The invention has the beneficial effects that: the attitude angle dynamic alignment method for the ship navigation system can be implemented under the condition of ship mooring, so that a ship is not limited by the condition of a half pier in a dock, has strong autonomy and operability, has the measurement precision reaching the angle second level, can be well suitable for the normalized alignment guarantee and equipment precision diagnosis of an in-service ship, can be popularized and applied to zero position alignment of other ship attitude measurement equipment, and can obtain better economic benefit and military benefit.
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Fig. 1 is a schematic diagram of a relationship among a ship attitude angle, a deck coordinate system and a northeast coordinate system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The features and properties of the present application are described in further detail below with reference to examples.
As shown in fig. 1, the present invention provides a dynamic alignment method for attitude angle of a ship navigation system, comprising the following steps:
(1) and acquiring the ship posture. And (3) starting the ship inertial navigation system, finishing time synchronization with the ship time equipment, and outputting the attitude information of the platform, wherein the attitude information comprises time information, heading angle, longitudinal rocking angle and transverse rocking angle information and is marked as (t, psi, theta and gamma).
(2) And measuring a true value of the heading angle. Arranging a reference station of GNSS equipment on a post-baseline reference mark point of a stem and stern line of a ship, arranging a mobile station on the post-baseline reference mark point of the stem and stern line of the ship, centering and leveling respectively, recording satellite observation data after stable startup, and resolving into a stem and stern line azimuth angle with a time stamp, namely a true value of the heading angle of the ship, and recording the true value (t, psi) z )。
(3) And measuring true values of the longitudinal rocking angle and the transverse rocking angle. The inclination measuring sensor is started, after time synchronization and zero adjustment are completed, the inclination measuring sensor A is arranged in the 0-degree ship bow direction of the main reference platform in an orthogonal mode, the inclination measuring sensor B is arranged on the 270-degree port side of the main reference platform, and the function that the inclination measuring sensor can measure the horizontal angle between the plane and the current ground level surface is utilizedMeasuring and recording levelness data measured by two inclination measuring sensors with time stamps, wherein the levelness data in the 0-degree bow direction is a true value of a longitudinal rocking angle, the levelness data in the 270-degree port direction is a true value of a transverse rocking angle, and recording the true value as (t, theta) z ,γ z )。
(4) Data processing and zero correction. Summarizing the truth value data with time stamp and the navigation system attitude angle data, and carrying out the linear interpolation algorithm to obtain the truth value (t, psi) at the same time z ,θ z ,γ z ) Comparing with the measured values (t, psi, theta, gamma), and finding out the average value (t, psi) of the first-order differences of the attitude angles s ,θ s ,γ s ) The attitude angle zero error of the navigation system is obtained, the attitude angle zero error of the ship navigation system is corrected according to the attitude angle zero error, and the process is repeated until the tolerance requirement is met. Wherein:
(t,ψ s ,θ s ,γ s )＝(t,ψ,θ,γ)-(t,ψ z ,θ z ,γ z )
therefore, the attitude angle dynamic zero alignment of the ship navigation system is completed.
Although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that: modifications and equivalents may be made thereto without departing from the spirit and scope of the invention and it is intended to cover in the claims the invention as defined in the appended claims.
Claims (5)
1. An attitude angle dynamic alignment method for a ship navigation system is characterized by comprising the following steps:
s1) acquisition of navigation system attitude angle information:
starting a ship inertial navigation system, outputting ship attitude angle information when time synchronization with time equipment is completed, starting a ship recording device, and completing recording and recording of the information;
s2) measurement of the true value of the heading angle:
a real value of a ship heading angle is obtained by utilizing a global navigation satellite system) device erected on the fore-aft line reference of the platform;
s3) measurement of true values of the pitch angle and the roll angle:
acquiring a true value of a pitch angle and a true value of a roll angle of a ship by a tilt measuring sensor arranged on a main reference platform;
s4) data processing and zero correction:
under the unified time reference, the zero error of the attitude angle of the navigation system is obtained through interpolation correction and statistical analysis, and the zero error is used for the online correction of the electric zero of the navigation system.
2. The dynamic alignment method of attitude angle for ship navigation system according to claim 1, wherein said ship attitude angle information in step S1 includes time information, heading angle, pitch angle, and roll angle information, denoted as (t, ψ, θ, γ).
3. The dynamic alignment method for attitude angles of ship navigation systems according to claim 2, characterized in that step S2 includes the following steps: arranging a reference station of global navigation satellite system equipment on a post-ship bow-stern line reference mark point, arranging a mobile station on the post-ship bow-stern line reference mark point, respectively centering and leveling, recording satellite observation data after stable startup, resolving into a bow-stern line azimuth angle with a time stamp, namely a true value of a ship heading angle, and recording the true value as (t, psi) z )。
4. The dynamic alignment method of attitude angle for ship navigation system according to claim 3, wherein step S3 includes the following steps: the inclination measuring sensor is started, after time synchronization and zero adjustment are completed, the inclination measuring sensor A is arranged in the 0-degree ship bow direction of the main reference platform in an orthogonal mode, the inclination measuring sensor B is arranged in the 270-degree port direction of the main reference platform, the levelness data measured by the two inclination measuring sensors with time stamps are measured and recorded by utilizing the function that the inclination measuring sensors can measure the horizontal angle between a plane and a current ground level, the levelness data in the 0-degree ship bow direction is a true value of a pitch angle, the levelness data in the 270-degree port direction is a true value of a roll angle, and the true value of the roll angle is recorded as (t, theta) z ,γ z )。
5. The dynamic alignment method of attitude angle for ship navigation system according to claim 4, wherein step S4 includes the following steps: summarizing the attitude angle truth value data with time stamp and the navigation system attitude angle data, and carrying out linear interpolation algorithm to obtain the truth value (t, psi) at the same time z ,θ z ,γ z ) Comparing with the measured values (t, psi, theta, gamma), and calculating the mean value (t, psi) of the first difference of the attitude angles s ,θ s ,γ s ) Namely the zero error of the attitude angle of the navigation system, correcting the zero of the attitude angle of the ship navigation system according to the zero error, and repeating the process until the tolerance requirement is met, wherein (t, psi) s ,θ s ,γ s )＝(t,ψ,θ,γ)-(t,ψ z ,θ z ,γ z )。
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115900637A (en) * | 2022-10-26 | 2023-04-04 | 中国舰船研究设计中心 | Attitude measurement method of offshore nuclear power platform |
| CN117611788A (en) * | 2024-01-19 | 2024-02-27 | 福思(杭州)智能科技有限公司 | Dynamic truth value data correction method and device and storage medium |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115900637A (en) * | 2022-10-26 | 2023-04-04 | 中国舰船研究设计中心 | Attitude measurement method of offshore nuclear power platform |
| CN117611788A (en) * | 2024-01-19 | 2024-02-27 | 福思(杭州)智能科技有限公司 | Dynamic truth value data correction method and device and storage medium |
| CN117611788B (en) * | 2024-01-19 | 2024-04-19 | 福思(杭州)智能科技有限公司 | Dynamic truth value data correction method and device and storage medium |
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