CN115127588A - Dynamic calibration method for local reference of ship - Google Patents
Dynamic calibration method for local reference of ship Download PDFInfo
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- CN115127588A CN115127588A CN202210648168.8A CN202210648168A CN115127588A CN 115127588 A CN115127588 A CN 115127588A CN 202210648168 A CN202210648168 A CN 202210648168A CN 115127588 A CN115127588 A CN 115127588A
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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
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
Abstract
The invention relates to a dynamic calibration method for a local reference of a ship, which comprises the following steps: selecting a measurement point location in a local area of the ship, and determining a spatial coordinate of the measurement point location; fitting a plane coordinate system and a space coordinate of a ship target measurement area to generate a longitudinal horizontal line, a ship centerline and a transverse horizontal line; calculating the straightness error t evaluated under the minimum condition by adopting a straightness error evaluation method based on a minimum area method for transforming coordinates; according to the building length of the ship body, correspondingly inquiring the maximum value of the deviation between the center line of the ship body and the horizontal assembly as a deviation calculation value; determining the scribing deviation and calculating the total error; extending the local deviation of point location measurement to the overall deviation of the whole measurement area, and performing extension conversion of length and angle; manufacturing a local reference mounting plane and an equipment mounting base of equipment to be calibrated; the equipment mounting base is fixed.
Description
Technical Field
The invention relates to a dynamic calibration method for a local reference of a ship.
Background
The total station and the photoelectric theodolite are multifunctional measuring instruments which are widely adopted by the construction line at present and integrate the functions of measurement and setting out (lofting), wherein the function of setting out the coordinates refers to the function of quickly and accurately setting out the lofting of a point on the ground according to the coordinates of the point, and the function can improve the precision and the speed of measurement and paying off.
In ship measurement, a ship is moved to a dock to establish stable, rigid and static conditions, a total station and a photoelectric theodolite are erected at proper positions, and then a coordinate measuring device is used for determining the level and the azimuth foundation of the ship. The coordinate measuring and setting steps mainly include measuring station setting, back view orientation, inputting the coordinates of unknown ground ship surface points and the height of the sampling point reflecting prism, and measuring or calculating by an instrument.
After the ship platform is built and separated from a dock, for subsequent projects with high requirements for installing or maintaining construction precision, such as radars, inertial navigation and the like, the ship is usually taken to return to the dock, a ship body is in a static and stable state in the dock through a docking block, optical calibration equipment such as a total station and a theodolite is used for erecting in the dock, a plurality of calibration points are built on the ship body, and the horizontal and direction datum lines of the ship are mapped through the aiming of the calibration points. However, due to the basic principle of total stations and theodolites, the levelness needs to be erected and adjusted by gyroscopes or levels under static conditions, so that the method cannot be used for calibration under floating conditions of the ship. Because the ship is docked and dock blocks are installed, the engineering quantity is large, the cost is high, and the period is long, so that the method cannot be adopted and needs to be adopted for emergency, local and cost-sensitive installation construction projects which need high precision.
In addition, local benchmark progress calibration can be carried out by adopting a mode of transplanting the existing reference points of the ships. The method mainly comprises the steps that an existing reference standard is transplanted to a target area, if a barrier is shielded in the transplanting process, the reference platform is firstly transferred to a transfer station in a midway transfer mode, and the coordinates of the transfer station are collected secondarily after equipment is transferred to the station, so that coordinate system conversion and new reference platform generation are realized. However, because the reference point is far away from the target installation position of the equipment or is separated from a plurality of cabins, a plurality of times of coordinate system conversion is designed, so that rotation errors are accumulated for a plurality of times and cannot be eliminated.
Disclosure of Invention
The invention aims to provide a dynamic calibration method for a ship local reference, which is used for measuring and calculating a ship central line and a horizontal reference in a ship floating state, meets the high-precision requirement and is convenient for installation of a base of equipment and calibration of the equipment in the later period after the ship undocks. The technical scheme is as follows:
a ship local reference dynamic calibration method comprises the following steps:
(11) selecting a measurement point location in a local area of the ship, and determining a space coordinate p (x, y, z) of the measurement point location; fitting a plane coordinate system and a space coordinate of a ship target measurement area to generate a longitudinal horizontal line, a ship centerline and a transverse horizontal line;
(12) calculating the straightness error t evaluated under the minimum condition by adopting a straightness error evaluation method based on a minimum area method of transformed coordinates;
(13) according to the building length of the ship body, correspondingly inquiring the maximum value of the deviation between the center line of the ship body and the horizontal assembly as a deviation calculation value;
(14) defining the inquired maximum value of the assembly deviation of the hull midline as the deviation delta of the in-dock assembly midline entity zb (ii) a 1/2 of the thickness of the deck in the measured area of the ship body is taken as the deviation delta of the sampling point of the non-structural surface of the center line of the ship body zf And calculating the cumulative deviation value delta of the ship centerline z Line entity deviation delta for in-dock assembly zb Deviation delta from sampling point of non-structural surface zf A difference of (a) z ＝Δ zb -Δ zf ；
(15) Defining the inquired maximum value of the horizontal assembly deviation of the ship body as the deviation of the horizontal entity in the dock; taking the deviation of the sampling point of the horizontal non-structural surface of the ship body as 0, and calculating to obtain the horizontal accumulated deviation value delta of the ship body s For levelling solid deviations, i.e. delta, in docks s ＝Δ sb ；
(16) Determining marking off biasDifference u, total error Δ t + Δ z +Δ s +u；
(17) Extending the local deviation of point location measurement to the overall deviation of the whole measurement area, and performing extension conversion of length and angle;
(18) manufacturing a local reference mounting plane for mounting equipment to be calibrated: mapping the space coordinate system which is synthesized by fitting to a local reference installation plane, setting a plurality of measuring point positions in the local reference installation plane, calibrating, determining the levelness of the local reference installation plane, and grinding and polishing to meet the horizontal levelness; determining a central line of a local reference plane by using a laser tracker, and marking the central line;
(19) manufacturing an equipment mounting base of equipment to be calibrated;
(20) the equipment to be calibrated, the equipment mounting base and the local reference mounting plane are butted, the central line mark of the local reference plane is aligned with the boss leaning surface of the equipment mounting base, the secondary correction is carried out on the boss leaning surface by using the reflector of the laser tracker, the equipment mounting base is adjusted, the boss leaning surface is matched with the central line of the local reference plane, and the fixation of the equipment mounting base is completed.
Further, in the step (1), measurement point locations are selected in the local area of the ship, and the method for determining the spatial coordinates of the measurement point locations comprises the following steps: based on the positions of a longitudinal girder structure and a strong beam structure in the original hull, making corresponding marks on a deck surface, erecting laser tracker equipment at positions where all measurement points can be observed, arranging reflectors on the measurement points, and scanning and recording coordinate data of the measurement points by using the laser tracker equipment; the spatial coordinates p (x, y, z) of the measurement point location are determined.
Further, a space coordinate system is constructed based on a space polar coordinate measuring principle and based on a horizontal rotary axis, a vertical rotary axis and an intersection point of the horizontal rotary axis and the vertical rotary axis of the laser tracking head, and a space coordinate p (x, y, z) of the measuring point position is obtained through a pitch angle (EL) and a horizontal azimuth Angle (AZ) parameter of the measured deflection of the laser head and a radius distance parameter r from the center of the laser head to the measuring point position p.
The method for scanning and recording the coordinate data of the measurement point location by using the laser tracker equipment to obtain the space coordinate p (x, y, z) of the measurement point location comprises the following steps: a space coordinate system is constructed based on a space polar coordinate measuring principle and based on a horizontal rotary axis, a vertical rotary axis and an intersection point of the horizontal rotary axis and the vertical rotary axis of a laser tracking head, a laser head emits and receives laser returned by a reflector, and space coordinates p (x, y and z) of a measuring point are obtained by measuring pitch angle (EL) and horizontal azimuth Angle (AZ) parameters of deflection of the laser head and a radius distance parameter r from the center of the laser head to the measured point p.
Further, the method of step (2) is:
with n measuring points being p i (x i ，y i ，z i ) I is l, 2, …, n, the ideal straight line for evaluating the straightness error according to the minimum condition is l, a, b and the translation quantity c are selected, so that the straight line l parallel to the plane zox is formed after l is rotated by an angle a around the x axis 1 A line l parallel to the yoz axis after rotating b degrees around the y axis 2 ，l 2 Then coordinate translation c is carried out, wherein the translation amount along each direction of the x axis, the y axis and the z axis is respectively delta x ，Δ y 0, after moving, being straight line l ', making l' coincide with the z-axis, wherein a is the included angle of straight line l and plane xoz, and b is straight line l 1 Angle with z axis, (- Δ) x ，-Δ y 0) is a straight line l 2 Coordinates of the intersection point with the xoy plane;
each measuring point and an ideal straight line l are subjected to coordinate transformation together, after the transformation, l is transformed into a straight line l' parallel to the z axis, and each measuring point p i (x i ，y i ，z i ) I 1, 2, … …, n, coordinate transformation to p i ˊ(x i ˊ，y i ˊ，z i (i ═ 1, 2, … …, n), given a distance d from each measurement point to an ideal straight line i ，
d max Is d i Medium maximum value, d max For the function (a, b, c), find the function d max Minimum value, denoted min d max Then, d is mind max 2 times the straightness error for minimum condition assessment:
t＝2×min d max (a,b,c)。
further, the deviation angle θ of the angular extension in step (9) is calculated by: the overall length of the ship is set as L, and the local length L of the ship is obtained through point location measurement 1 Longitudinal deviation value a of the zone 1 And then calculate L 1 Angular deviation of area theta a Then, the theoretical deviation angle of the whole measuring area is calculated
Further, the step (9) is to manufacture the equipment mounting base of the equipment to be calibrated according to the following characteristics: firstly, plotting a central line on an equipment mounting base, wherein the parallelism between equipment to be calibrated and the central line is not less than 0.2 mm; secondly, the installation plane is polished to have the flatness of 1m 2 The range is not more than 0.3 mm; thirdly, one side of the equipment mounting base is provided with two boss leaning surfaces, and the flatness of the leaning surfaces is 1m 2 The range is not more than 0.1mm, and the parallelism of the outer leaning surface of the boss and the center line of the base is not less than 0.2 mm; fourthly, a fine-adjustable waist-shaped hole for adjustment is arranged.
The invention has the substantive characteristics that: the method comprises the steps of reversely fitting a space coordinate system of a local area of a ship by utilizing the characteristic that a ship body can refer to a related building standard during building, measuring relative coordinates of related point positions through a laser tracker, and obtaining central line deviation and levelness deviation of the local area of the ship under a dynamic condition; and establishing a system error analysis method, analyzing the measurement error, the construction process error and the construction random error of the laser measuring instrument item by item, and performing cumulative calculation by adopting a minimum error calculation method and a maximum error standard selection principle to obtain an optimal and most reliable measurement result. Compared with the prior art, the invention has the advantages that:
1. the reverse test method is adopted, is suitable for most surface ship platforms, does not need technical parameters, construction drawings and the like during forward design, and has wide applicability in platforms meeting national military standards or relevant standards.
2. The calibration method of the relative coordinate system is adopted, and the static calibration condition is not depended on, so that the time cost and the economic cost brought by docking and static calibration of the ship can be greatly reduced.
3. By adopting a high-precision measuring method, a perfect measuring method and an error analysis method, the method can have higher precision level under the condition of a floating platform, and can meet the high-precision calibration requirements of radars, inertial navigation and the like.
4. By utilizing the dynamic measurement advantage of the laser tracker, after the local reference coordinate system of the ship is established, equipment calibration can be repeatedly carried out under the condition of no moving point positions, and tasks such as ship navigation and the like are not influenced, so that the laser tracker has obvious advantages in complex and long-period construction projects.
Drawings
FIG. 1 shows the selection of coordinate system measurement points of a floating platform;
FIG. 2 is a spatial coordinate system of measured points;
FIG. 3 is a coordinate transformation diagram;
FIG. 4 illustrates assembly deviation of the surface vessel segment and total segment;
FIG. 5 is a distance conversion of measurement zones;
FIG. 6 length angle scaling;
FIG. 7 is a profile view of a boss.
Detailed Description
The invention is described below with reference to the accompanying drawings and examples.
The method for dynamically calibrating the local reference of the ship is not as follows:
(1) according to the assembly deviation of the sectional or total section central line and the levelness, which are referred to when the ship is built, a high-precision laser measuring instrument based on a floating measurement function is utilized to select point positions in a ship target measurement area, a laser tracker is erected, a coordinate system is established on the measuring point positions by utilizing a reflecting ball, and a plane coordinate system or a space coordinate of the ship target measurement area is fitted.
The maximum error of the whole measuring method is calculated through the analysis of the sectional assembly error, the analysis of the inherent error of laser measurement and the error analysis of construction error.
The manufacturing method comprises the steps of manufacturing a reference platform and an equipment mounting base, and carrying out total weight mounting and calibration through horizontal adjustment and azimuth mounting leaning surfaces.
(2) And (3) selecting a ship reference source based on the floating platform measurement basic method in the step (1). The ship centerline and the horizontal reference are determined by adopting the tail hull structure, the ship tail deck structure is scanned by utilizing the laser tracker equipment, the appearance state of the ship is determined, the coordinate system reference in the acquisition equipment is formed, and the ship tail deck structure is projected to a target area.
As shown in fig. 1, in a local area of a ship, taking a deck as an example, a plurality of marked point locations are made on a deck surface by using a mode of searching for an original middle-girder structure and a strong-beam structure, laser tracker equipment is erected at positions where all the point locations can be observed, coordinate data are scanned and recorded, and a longitudinal horizontal line (also a ship centerline) and a transverse horizontal line are generated by using a fitting mode. The influence of different thicknesses of deck plates on data needs to be noticed during data acquisition.
(3) The laser tracker uses a space polar coordinate based measurement principle to determine the spherical coordinate of the central point of the reflector by measuring the pitch angle (EL) and the horizontal azimuth Angle (AZ) and a radius distance. The coordinate system is composed of a horizontal rotary axis and a vertical rotary axis of the laser tracking head and an intersection point of the horizontal rotary axis and the vertical rotary axis, the laser head emits and receives laser returned by the reflector, and the space coordinate p (x, y, z) of the measured point is obtained by a formula through measuring two angle parameters of the deflection of the laser head and a distance parameter r from the center of the laser head to the measured point p, as shown in figure 2.
px＝r sin(b)cos(a)
py＝r sin(b)sin(a)
pz＝r cos(b)
(4) And (3) obtaining the minimum error meeting the conditions by adopting a laser tracker principle and a measuring, laying and selecting point method based on the steps (3) and (2) and adopting a straightness error evaluation method based on a minimum area method of transforming coordinates.
N measuring points are pi (xi, yi, zi) (i is l, 2, … …, n), an ideal straight line with error is evaluated according to a minimum condition is l, a, b and a translation quantity c are properly selected, so that l rotates around an axis by an angle aFollowed by a line l parallel to plane zox 1 A straight line l parallel to the yoz axis after rotating around the shaft by an angle b 2 ，l 2 Then, coordinate translation c is carried out, wherein the translation amount along each direction of the x axis, the y axis and the z axis is respectively delta x ，Δ y And 0, after moving, the moving part is a straight line l ', so that the l' can be superposed with the z axis. As shown in FIGS. 3(a), (b) and (c), wherein a is the angle between the line l and the plane xoz, and b is the line l 1 Angle with z axis, (- Δ) x ，-Δ y 0) is a straight line l 2 Coordinates of the intersection with the xoy plane.
Because the mutual relation between each measuring point and each ideal straight line cannot be influenced when the measuring points and the ideal straight lines are subjected to unified coordinate conversion, each measuring point and each ideal straight line are subjected to coordinate conversion together, after the coordinate conversion, the coordinate conversion is carried out, namely, each measuring point pi (xi, yi, zi) (i is 1, 2, … …, n) is carried out, and the coordinate conversion is carried out, namely, the coordinate conversion is carried out, so that the mutual relation between each measuring point and each ideal straight line is not influenced, and each measuring point and each ideal straight line l is changed into a straight line l, namely, i is changed into a straight line parallel to the coordinate conversion is carried out, namely, the coordinate conversion is carried out, and each measuring point pi is carried out, namely, the coordinate conversion is carried out, so that each measuring point is carried out, the coordinate conversion is carried out, namely, the coordinate conversion is carried out, so that each measuring point is carried out, and each measuring point is carried out, namely, each measuring point is carried out, and each measuring point is changed into the coordinate conversion is carried out, each measuring point is changed into the coordinate conversion is carried out, and each measuring point is changed into the coordinate conversion is carried out, namely, each measuring point is carried out, so that each measuring point is carried out, and each measuring point is not influenced, and each measuring point is changed into the coordinate conversion is carried out, so that each measuring point is changed into the coordinate conversion is carried out, and each measuring point is changed into the corresponding to form is not influenced, and each i ˊ(x i ˊ，y i ˊ，z i (i) 1, 2, … …, n) at a distance d from each point to an ideal straight line i Then, then
d max Is d i Medium maximum value, d max The minimum value of the function is calculated for the function (a, b, c) and is recorded as mind max Then mind max 2 times the straightness error. The linearity error for the minimum condition assessment is:
t＝2×min d max (a,b,c)。
the specific embodiment is as follows:
let the rotation matrix of rotation mouth angle along x axis be [ a ], the rotation matrix of rotation mouth angle along y axis be [ b ], the translation matrix of translation c be [ c ], and according to the mathematical method:
then the point p is measured i And p i Coordinate conversion relationship between the two：
From this it can be calculated:
then:
straightness error:
(5) and (3) calculating a system error generated by the calibration method according to the national military standard GJB3182-98 water surface ship building precision requirement of ship building execution based on the selection and calculation of the standard point positions in the steps (2) and (3). During the ship building process, specific data requirements are required for segment manufacturing and in-dock assembly positioning, and refer to fig. 4.
1) The calculation process of the deviation of the ship center line comprises the following steps: the standard deviation in the dock is looked up to obtain the maximum value, and the maximum value is defined as the entity deviation; in the process of building the ship body, the midship line is limited by the implementation of the process, the thickness of the deck can influence the precision backstepping precision, the deviation of a non-structural plane sampling point, namely the value deviation brought by the thickness of the deck at a measuring point, is considered, and 1/2 of the thickness of the deck can be taken as the maximum deviation value of 5mm by taking the thickness of the deck as 10mm as an example, so that the midship line is accumulatedDeviation value delta z Is the deviation delta in the dock zb Deviation of sampling point of non-structural surface zf The difference of (a).
Δ z ＝Δ zb -Δ zf ；
2) The calculation process of the horizontal deviation of the ship comprises the following steps: horizontally taking the maximum value of the entity deviation table look-up, and defining the maximum value as the entity deviation; because the horizontal measuring points do not relate to the conformance of the sampling points to the alignment of the structure, the average thickness of the ship deck is considered to be basically uniform, and the thickness deviation is not more than 1 mm. Therefore, the sampling point deviation value is defined as 0 mm. Cumulative deviation value delta of ship level s Is a deviation of a solid body Δ zb 。
Δ s ＝Δ sb ；
3) If the base reference can be generated without the need for a transfer station, the measurement plan calculation without the need for coordinate system quadratic conversion. Angular accuracy Δ of laser tracker L Is 15um +6 um/m; the distance precision is as follows: 0.5 um/m. And can be ignored.
If the station is required to be transferred, the scanning deviation of the station is 0.5mm, if the station is required to be transferred for one time, the station transferring precision is related to the measurement distance, the measurement angle and the size of a station transferring platform, and if the station transferring platform is in the range of the ship width, the deviation angle can be ignored.
4) The marking accuracy of constructors is 1mm, generally can reach 0.25-0.5mm, and is calculated according to the marking deviation of 0.5m, namely 0.5 mm.
The total error is:
Δ＝Δ z +Δ s +0.5；
as shown in fig. 5, the local deviation of the point location measurement needs the global deviation extending to the entire measurement area, and at the same time, the extension conversion of the length and the angle needs to be performed. The deviation angle theta can be acquired and calculated through the integral length L of the ship 1 The longitudinal deviation value of the region is obtained as 1 A numerical value; calculating L by trigonometric function relationship 1 The zone deviation angle θ a.
Calculating a theoretical deviation angle of the whole measuring area:
the length and angle calculation method is that in the area with radius of one meter, 1' ≈ 0.29mm, as shown in fig. 6:
when the angle is small, the relation between the angle and the deviation value can be directly checked by using the circumference.
(6) And (4) based on the coordinate system establishment result of the local platform of the ship in the steps (2), (3), (4) and (5), manufacturing a local reference plane for installing equipment to be calibrated. And mapping to the local reference installation plane by using the space coordinate system which is already synthesized. Setting a plurality of measuring point positions in a local reference plane, calibrating, determining the levelness of the local reference plane, grinding and polishing to meet the horizontal flatness, wherein the calibrating method is the same as the step (2); and (3) determining the central line of the local reference plane by using a laser tracker, and marking the central line by the calibration method in the step (2).
(7) And (4) completing preparation based on the local reference mounting plane in the step (6), and calibrating the center line and the horizontal reference of the equipment mounting base. The equipment mounting base should satisfy the following characteristics: firstly, a central line is plotted out by an equipment mounting base, and the parallelism of each mounting equipment and the central line is not less than 0.2 mm; secondly, the installation plane is polished to ensure that the flatness is not more than 0.3mm (1 m) 2 Maximum machining accuracy); thirdly, one side of the mounting base is provided with 2 boss leaning surfaces, and the flatness of the leaning surfaces meets 0.1mm (1 m) 2 Maximum processing precision), the parallelism of the outer leaning surface of the boss and the center line of the base is not less than 0.2 mm; and fourthly, a waist-shaped hole which can be used for installing fine adjustment is arranged, and the picture is shown in figure 7.
(8) And (5) finishing the preparation of the local reference mounting plane and the equipment mounting base based on the steps (7) and (6), horizontally and azimuthally aligning the pre-assembled equipment and the equipment mounting base, and rigidly and fixedly connecting the pre-assembled equipment and the equipment mounting base. And (3) butting the equipment and the installation base with the local reference installation plane, aligning the center line mark in the step (6) with the boss leaning surface of the equipment installation base in the step (7), performing secondary correction on the boss leaning surface by using a reflector of the laser tracker, and performing fine adjustment by using the fine-adjustable waist-shaped hole of the equipment installation base in the step (7) to ensure that the center line of the boss leaning surface is completely matched with the center line of the local reference plane, thereby completing equipment fixing.
Claims (6)
1. A dynamic calibration method for a local reference of a ship comprises the following steps:
(1) selecting a measurement point location in a local area of the ship, and determining a spatial coordinate of the measurement point location; fitting a plane coordinate system and a space coordinate of a ship target measurement area to generate a longitudinal horizontal line, a ship centerline and a transverse horizontal line;
(2) calculating the straightness error t evaluated under the minimum condition by adopting a straightness error evaluation method based on a minimum area method of transformed coordinates;
(3) according to the building length of the ship body, correspondingly inquiring the maximum value of the deviation between the center line of the ship body and the horizontal assembly as a deviation calculation value;
(4) defining the inquired maximum value of the assembly deviation of the hull midline as the deviation delta of the in-dock assembly midline entity zb (ii) a 1/2 of the thickness of the deck in the measured area of the ship body is taken as the deviation delta of the sampling point of the non-structural surface of the center line of the ship body zf And calculating the cumulative deviation value delta of the ship centerline z For in-dock assembly line entity deviation Δ zb Deviation of sampling point of non-structural surface zf A difference of (a) z ＝Δ zb -Δ zf ；
(5) Defining the maximum value of the queried horizontal assembly deviation of the ship body as the deviation of a horizontal assembly solid in the dock; taking the deviation of the sampling point of the horizontal non-structural surface of the ship body as 0, and calculating to obtain the horizontal accumulated deviation value delta of the ship body s For levelling solid deviations, i.e. delta, in docks s ＝Δ sb ；
(6) Determining the marking deviation u, and calculating the total error delta t + delta z +Δ s +u；
(7) Extending the local deviation of point location measurement to the overall deviation of the whole measurement area, and performing extension conversion of length and angle;
(8) manufacturing a local reference mounting plane for mounting equipment to be calibrated: mapping the space coordinate system which is already synthesized to a local reference installation plane, setting a plurality of measuring point positions in the local reference installation plane, calibrating, determining the levelness of the local reference installation plane, and grinding and polishing to meet the horizontal levelness; determining a central line of a local reference plane by using a laser tracker, and marking the central line;
(9) manufacturing an equipment mounting base of equipment to be calibrated;
(10) the equipment to be calibrated, the equipment mounting base and the local reference mounting plane are butted, the central line mark of the local reference plane is aligned with the boss leaning surface of the equipment mounting base, the secondary correction is carried out on the boss leaning surface by using the reflector of the laser tracker, the equipment mounting base is adjusted, the boss leaning surface is matched with the central line of the local reference plane, and the fixation of the equipment mounting base is completed.
2. The dynamic ship local reference calibration method according to claim 1, wherein measurement point locations are selected in the local ship area in step (1), and the method for determining the spatial coordinates of the measurement point locations comprises: based on the positions of the original middle longitudinal girder structure and the original strong cross beam structure of the ship body, corresponding marks are made on a deck surface, laser tracker equipment is erected at the position where all measurement point positions can be observed, a reflector is arranged on the measurement point positions, the laser tracker equipment is used for scanning and recording coordinate data of the measurement point positions, and the spatial coordinates p (x, y, z) of the measurement point positions are determined.
3. The ship local reference dynamic calibration method according to claim 2, wherein the method for determining the spatial coordinates of the measurement point location comprises: a space coordinate system is constructed based on a space polar coordinate measuring principle and based on a horizontal rotary axis, a vertical rotary axis and an intersection point of the horizontal rotary axis and the vertical rotary axis of a laser tracking head, and a space coordinate p (x, y and z) of a measuring point position is obtained through a pitch angle (EL) and a horizontal azimuth Angle (AZ) parameter of the measured deflection of the laser head and a radius distance parameter r from the center of the laser head to the measuring point position p.
4. The ship local reference dynamic calibration method according to claim 1, wherein the method in step (2) is as follows:
with n measuring points being p i (x i ，y i ，z i ) I-l, 2, … …, n, in minimum barThe ideal straight line for evaluating the straightness error is l, and a, b and the translation amount c are selected so that the straight line l after rotating around the x-axis by an angle a is a straight line l parallel to the plane zox 1 A line l parallel to the yoz axis after rotating about the y axis by an angle b 2 ，l 2 Then, coordinate translation c is carried out, wherein the translation amount along each direction of the x axis, the y axis and the z axis is respectively delta x ，Δ y 0, after moving, being straight line l ', making l' coincide with the z-axis, wherein a is the included angle of straight line l and plane xoz, and b is straight line l 1 Angle with z axis, (- Δ) x ，-Δ y 0) is a straight line l 2 Coordinates of the intersection point with the xoy plane;
converting the coordinate of each measuring point and an ideal straight line l together, wherein after the coordinate is changed, the l is changed into a straight line l' parallel to the z axis, and each measuring point p i (x i ，y i ，z i ) I 1, 2, … …, n, coordinate transformation to p i ˊ(x i ˊ，y i ˊ，z i (i ═ 1, 2, … …, n), given a distance d from each measurement point to an ideal straight line i ，
d max Is d i Medium maximum value, d max For the function (a, b, c), find the function d max Minimum value, recorded as min d max Then mind max 2 times the straightness error for minimum condition assessment:
t＝2×mind max (a,b,c)。
5. the dynamic ship local reference calibration method according to claim 1, wherein the calculation method of the deviation angle θ of the angular extension in the step (9) is as follows: the overall length of the ship is set as L, and the local length L of the ship is obtained through point location measurement 1 Longitudinal deviation value a of the zone 1 And then calculate L 1 Angular deviation of area theta a Then calculating the theoretical deviation angle of the whole measuring area
6. The dynamic ship local reference calibration method according to claim 1, wherein the step (9) is to manufacture an equipment mounting base of the equipment to be calibrated according to the following characteristics: firstly, a central line is plotted on an equipment mounting base, and the parallelism of equipment to be calibrated and the central line is not less than 0.2 mm; secondly, the installation plane is polished to have the flatness of 1m 2 The range is not more than 0.3 mm; thirdly, one side of the equipment mounting base is provided with two boss leaning surfaces, and the flatness of the leaning surfaces is 1m 2 The range is not more than 0.1mm, and the parallelism of the outer leaning surface of the boss and the center line of the base is not less than 0.2 mm; and fourthly, a micro-adjustable waist-shaped hole for adjustment is arranged.
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