CN115773739A - Electronic inclinometer for ship and calculation method - Google Patents
Electronic inclinometer for ship and calculation method Download PDFInfo
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- CN115773739A CN115773739A CN202211484236.8A CN202211484236A CN115773739A CN 115773739 A CN115773739 A CN 115773739A CN 202211484236 A CN202211484236 A CN 202211484236A CN 115773739 A CN115773739 A CN 115773739A
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Abstract
The invention relates to a ship electronic clinometer and a calculation method, which calculates the output of an electronic compass through a calculation module and comprises the following steps: after initial alignment, the electronic compass enters a navigation state and outputs data of a pitch angle theta and a roll angle gamma; calculating the average value of the pitch angle theta
And the average value of the roll angle gamma
According to
Building N-dimensional array
According to
Building N-dimensional array
Calculating the amplitude A of the pitching angle according to the maximum value and the minimum value of all elements in the N-dimensional array theta θ Calculating the amplitude A of the roll angle according to the maximum value and the minimum value of all elements in the N-dimensional array gamma γ (ii) a And respectively judging whether the amplitude values of the pitch angle and the roll angle exceed the threshold, if so, calculating a corresponding period, and outputting a dangerous attitude alarm. According to the invention, the calculation module is added in the existing electronic compass, the function of the electronic inclinometer is realized through calculation, and no additional electronic inclinometer equipment is required to be configured, so that dangerous attitude alarm is provided for ship navigation.
Description
Technical Field
The invention relates to the field of ship navigation equipment, in particular to a ship electronic inclinometer and a calculation method.
Background
In the navigation field, the electronic inclinometer is used for helping a ship avoid dangerous conditions in the decision process and providing ship swinging period and inclination angle information for a maritime organization, can measure the ship rolling and pitching angles in real time, calculate the amplitude and period, and transmit the amplitude and period to the VDR to store ship navigation information, and has a ship dangerous attitude alarm function for a shipman to refer. According to the international maritime organization, 500 total tons and more of ships are required to be equipped with the electronic compass forcibly, so that the ships are basically equipped with the electronic compass, and for some ships, the hardware cost is increased if the electronic inclinometer is installed.
Disclosure of Invention
In order to utilize the original electronic compass of a ship on the basis of not additionally adding an electronic inclinometer, the invention provides the electronic inclinometer for the ship and the computing method thereof.
The technical purpose of the invention is realized by the following technical scheme:
a computing method of a ship electronic inclinometer comprises a computing module, wherein the computing module is connected to an electronic compass, and is used for computing a pitch angle theta and a roll angle gamma output by the electronic compass, and the computing method comprises the following steps:
step 1, the electronic compass automatically enters an initial alignment working state after receiving satellite navigation data;
step 2, after initial alignment, the electronic compass enters a navigation state, and outputs data of a pitch angle theta and a roll angle gamma;
step 3, respectively calculating the average value of the pitching angles theta
And the average value of the roll angle gamma
Step 4, according to
Building N-dimensional array
According to
Building N-dimensional array
Step 5, calculating the amplitude A of the pitching angle according to the maximum value and the minimum value of all elements in the N-dimensional array theta θ Calculating the amplitude A of the roll angle according to the maximum value and the minimum value of all elements in the N-dimensional array gamma γ ；
And 6, respectively judging whether the amplitude of the pitch angle and the amplitude of the roll angle exceed thresholds, if so, calculating a corresponding period, and outputting a dangerous attitude alarm.
Further, in step 5, the maximum value of all elements in the N-dimensional array θ is θ max Minimum value of theta min Amplitude A θ ＝0.5(θ max -θ min ) (ii) a The maximum value of all elements in the N-dimensional array gamma is gamma max Minimum value ofIs gamma min Amplitude A γ ＝0.5(γ max -γ min )。
Further, in step 6, the period T θ = k of the pitch angle θ1 *Tθ+k θ2 *Tθ i Period of roll angle T γ = k γ1 *Tγ+k γ2 *Tγ i Where T θ i ＝|Tθ 1 -Tθ 2 |，Tγ i ＝|Tγ 1 -Tγ 2 |，θ max Corresponding to T theta 1 Time of day, theta min Corresponding to T theta 2 Time of day, gamma max Corresponding to T gamma 1 Time of day, gamma min Corresponding to T gamma 2 Time, k θ1 、k θ2 、k γ1 、k γ2 Are coefficients.
Further, in step 3, the average value of pitch angle per 5Hz is calculated
Calculating the average value of roll angle per 5Hz
The invention also provides an electronic inclinometer for the ship, which comprises an electronic compass, wherein the electronic compass comprises an inertia measuring unit, an electronic component, a display control unit and a power supply module, and the inertia measuring unit is used for measuring the three-axis angular velocity and acceleration data of the ship; the electronic component is used for acquiring triaxial angular velocity and acceleration data measured by the inertial measurement unit, performing coordinate and temperature compensation and performing navigation calculation; the display control unit is used for displaying the swing period and the inclination angle information and alarming the dangerous posture; the power supply module is used for supplying power to the inertia measurement unit, the electronic component and the display control unit.
Furthermore, the inertia measurement unit comprises three groups of inertia measurement devices, each group of inertia measurement device comprises a gyroscope and an accelerometer, and the three groups of inertia measurement devices are respectively distributed on three vertical axes in pairs.
Furthermore, the electronic components comprise a gyro signal acquisition circuit, an accelerometer signal acquisition circuit, a computer and a communication interface module; the gyroscope signal acquisition circuit is used for acquiring signals of a gyroscope, and the acceleration signal acquisition circuit is used for acquiring signals of an accelerometer; a calculation module is written in the computer, and the calculation module carries out calculation according to the calculation method of the marine electronic inclinometer; the embedded computer performs navigation calculation on data acquired by the gyro signal acquisition circuit and the accelerometer signal acquisition circuit; the communication interface module is used for sending the navigation resolving result of the embedded computer to the display control module.
Further, the navigation solution includes electronic compass initial alignment, compass navigation, tilt meter calculation.
Furthermore, the electronic compass is an optical fiber compass, the resolving frequency of the optical fiber compass is not lower than 50Hz, and the acquisition frequencies of the gyro signal acquisition circuit and the accelerometer signal acquisition circuit are not lower than 50Hz.
Compared with the prior art, the electronic compass has the advantages that the computing module is added in the existing electronic compass, the computing module is used for computing the data acquired by the electronic compass so as to realize the function of the electronic inclinometer, the electronic inclinometer equipment does not need to be additionally configured, the cost is reduced, and meanwhile, dangerous attitude alarm is provided for ship navigation.
Drawings
FIG. 1 is a schematic diagram of the composition of the marine electronic inclinometer of the present invention.
FIG. 2 is a schematic diagram of the inertial measurement unit and electronic components of the present invention.
Fig. 3 is a schematic diagram of a calculation flow of the marine electronic inclinometer in the invention.
Detailed Description
The technical scheme of the invention is further described by combining the specific embodiments as follows:
an electronic inclinometer for a ship is provided, which is additionally provided with a computing module on the basis of an electronic compass, as shown in fig. 1, wherein the electronic compass comprises an external shell, an inertial measurement unit (IMU for short), an electronic component, a display control unit and a power supply module, and the inertial measurement unit is used for measuring the triaxial angular velocity and acceleration data of a ship where the electronic compass is located; the electronic component is used for acquiring triaxial angular velocity and acceleration data measured by the inertia measurement unit, performing coordinate and temperature compensation and performing navigation calculation; the display control unit is used for displaying the swing period and the inclination angle information and alarming the dangerous posture; the power supply module is used for supplying power to the inertia measurement unit, the electronic component and the display control unit.
In this embodiment, three fiber optic gyroscopes and three accelerometers are orthogonally installed in a cube frame, and one fiber optic gyroscope and one accelerometer are installed in each direction in three coordinate axis directions perpendicular to each other.
As shown in fig. 2, the electronic components include a gyro signal acquisition circuit, an accelerometer signal acquisition circuit, a computer, a communication interface module, and a dc power board; the gyroscope signal acquisition circuit is used for acquiring signals of a gyroscope, and the acceleration signal acquisition circuit is used for acquiring signals of an accelerometer; the computer is an embedded navigation computer, a computing module is written in the embedded navigation computer, and the computing module is operated to perform the calculation of the inclinometer; the embedded computer performs navigation calculation on data acquired by the gyro signal acquisition circuit and the accelerometer signal acquisition circuit; the communication interface module is used for sending the navigation resolving result of the embedded computer to the display control module. The direct current circuit board is used for converting a power supply provided by the power supply module into a direct current power supply available for each component, specifically, in this embodiment, the direct current circuit board outputs an input 24V direct current power supply to ± 5V for supplying power to the optical fiber gyroscope, in this embodiment, the direct current circuit board outputs an input 24V direct current power supply to +/-5V for supplying power to the embedded navigation computer and the communication interface module, and in this embodiment, the direct current circuit board outputs an input 24V direct current power supply to ± 15V for supplying power to the accelerometer and the accelerometer signal acquisition circuit. The gyroscope acquisition circuit and the accelerometer acquisition circuit realize the acquisition function of a gyroscope digital quantity and an accelerometer analog quantity, in order to meet the real-time property of data acquisition, the electronic compass selects the optical fiber compass, and the resolving frequency of the optical fiber compass is not lower than 50Hz, so the acquisition frequency of the gyroscope signal acquisition circuit and the accelerometer signal acquisition circuit is not lower than 50Hz.
After the gyroscope signal acquisition circuit and the accelerometer signal acquisition circuit respectively acquire signals of a gyroscope and an accelerometer, the acquired signals are input into the embedded navigation computer, and navigation resolving is started, wherein the navigation resolving comprises electronic compass initial alignment, compass navigation and clinometer calculation.
The present embodiment further provides a method for calculating an electronic inclinometer for a ship, where the electronic inclinometer is as in the above embodiments, the calculation module calculates the pitch angle θ and the roll angle γ output by the electronic compass, and the calculation includes the following steps, as shown in fig. 3:
step 1, the electronic compass automatically enters an initial alignment working state after receiving satellite navigation data (including position and speed information of an external GPS);
step 2, after initial alignment, the electronic compass enters a navigation state, and outputs longitudinal rocking angle theta and transverse rocking angle gamma data;
step 3, respectively calculating the average value of the pitching angle theta of every 5Hz
And the average value of the roll angle gamma
Step 4, according to
Building N-dimensional array
According to
Building N-dimensional array
Step 5, calculating the amplitude A of the pitching angle according to the maximum value and the minimum value of all elements in the N-dimensional array theta θ Calculating the amplitude A of the roll angle according to the maximum value and the minimum value of all elements in the N-dimensional array gamma γ (ii) a The maximum value of all elements in the N-dimensional array theta is theta max Minimum value of theta min Amplitude A θ ＝0.5(θ max -θ min ) (ii) a The maximum value of all elements in the N-dimensional array gamma is gamma max The minimum value is gamma min Amplitude A γ ＝0.5(γ max -γ min )。
Step 6, respectively judging whether the amplitude of the pitch angle and the amplitude of the roll angle exceed a threshold, if the amplitude of the pitch angle exceeds the threshold, estimating a pitch period, and outputting a dangerous attitude alarm; and if the amplitude of the roll angle exceeds the threshold, estimating a roll period, if the amplitude of the roll angle exceeds the threshold, calculating a corresponding period, and outputting a dangerous attitude alarm.
Pitch angle period T θ = k θ1 *Tθ+k θ2 *Tθ i Period of roll angle T γ = k γ1 *Tγ+k γ2 *Tγ i Wherein T θ i ＝|Tθ 1 -Tθ 2 |，Tγ i ＝|Tγ 1 -Tγ 2 |，θ max Corresponding to T theta 1 Time of day, theta min Corresponding to T theta 2 Time of day, gamma max Corresponding to T gamma 1 Time of day, gamma min Corresponding to T gamma 2 Time of day, where k θ1 ＝0.98，k θ2 ＝0.02，k γ1 ＝0.90，k γ2 ＝0.10。
The present invention is further explained and not limited by the embodiments, and those skilled in the art can make various modifications as necessary after reading the present specification, but all the embodiments are protected by the patent law within the scope of the claims.
Claims (9)
1. A calculation method of a marine electronic inclinometer is characterized in that the electronic inclinometer comprises a calculation module, the calculation module is connected to an electronic compass, and the calculation module calculates a pitch angle theta and a roll angle gamma output by the electronic compass, and the calculation comprises the following steps:
step 1, automatically entering an initial alignment working state after the electronic compass receives satellite navigation data;
step 2, after initial alignment, the electronic compass enters a navigation state, and outputs longitudinal rocking angle theta and transverse rocking angle gamma data;
step 3, respectively calculating the average value of the pitching angles theta
And the average value of the roll angle gamma
Step 4, according to
Building N-dimensional array
According to
Building N-dimensional array
Step 5, calculating the amplitude A of the pitching angle according to the maximum value and the minimum value of all elements in the N-dimensional array theta θ Calculating the amplitude A of the roll angle according to the maximum value and the minimum value of all elements in the N-dimensional array gamma γ ；
And 6, respectively judging whether the amplitude of the pitch angle and the amplitude of the roll angle exceed the threshold, if so, calculating a corresponding period, and outputting a dangerous posture alarm.
2. The method of claim 1, wherein the step of calculating the electronic inclinometer is performed by a computerIn step 5, the maximum value of all elements in the N-dimensional array theta is theta max Minimum value of theta min The amplitude A θ ＝0.5(θ max -θ min ) (ii) a The maximum value of all elements in the N-dimensional array gamma is gamma max Minimum value of gamma min The amplitude A γ ＝0.5(γ max -γ min )。
3. The method for calculating a marine electronic inclinometer according to claim 2, characterized in that in the step 6, the pitch angle period T θ = k θ1 *Tθ+k θ2 *Tθ i The period of the roll angle T gamma = k γ1 *Tγ+k γ2 *Tγ i Where T θ i ＝|Tθ 1 -Tθ 2 |，Tγ i ＝|Tγ 1 -Tγ 2 |，θ max Corresponding to T theta 1 Time of day, theta min Corresponding to T theta 2 Time of day, gamma max Corresponding to T gamma 1 Time of day, gamma min Corresponding to T gamma 2 Time, k θ1 、k θ2 、k γ1 、k γ2 Are coefficients.
4. The method for calculating an electronic inclinometer for a ship according to claim 1, characterized in that, in the step 3, the average value of pitch angles of every 5Hz is calculated
Calculating the average value of roll angle per 5Hz
5. The electronic inclinometer for the ship is characterized by comprising an electronic compass, wherein the electronic compass comprises an inertia measuring unit, an electronic component, a display control unit and a power supply module, and the inertia measuring unit is used for measuring the three-axis angular velocity and acceleration data of the ship in which the electronic compass is arranged; the electronic component is used for acquiring triaxial angular velocity and acceleration data measured by the inertial measurement unit, performing coordinate and temperature compensation and performing navigation calculation; the display control unit is used for displaying the swing period and the inclination angle information and alarming the dangerous posture; the power supply module is used for supplying power to the inertia measurement unit, the electronic component and the display control unit.
6. The marine electronic inclinometer of claim 5, characterized in that the inertial measurement unit comprises three sets of inertial measurement units, each set of inertial measurement units comprising a gyroscope and an accelerometer, and the three sets of inertial measurement units are respectively distributed in three perpendicular axes.
7. The marine electronic inclinometer of claim 6, wherein said electronic components comprise a gyro signal acquisition circuit, an accelerometer signal acquisition circuit, a computer, a communication interface module; the gyroscope signal acquisition circuit is used for acquiring signals of a gyroscope, and the acceleration signal acquisition circuit is used for acquiring signals of an accelerometer; a calculation module is written in the computer, and the calculation module performs calculation according to the method of any one of claims 1 to 4; the embedded computer carries out navigation resolving on data acquired by the gyro signal acquisition circuit and the accelerometer signal acquisition circuit; and the communication interface module is used for sending the navigation resolving result of the embedded computer to the display control module.
8. The marine electronic inclinometer of claim 7, wherein the navigation solution comprises electronic compass initial alignment, compass navigation, inclinometer calculation.
9. The marine electronic inclinometer of claim 7, wherein the electronic compass is a fiber-optic compass, the resolving frequency of the fiber-optic compass is not lower than 50Hz, and the acquisition frequencies of the gyro signal acquisition circuit and the accelerometer signal acquisition circuit are not lower than 50Hz.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211484236.8A CN115773739A (en) | 2022-11-24 | 2022-11-24 | Electronic inclinometer for ship and calculation method |
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| CN202211484236.8A CN115773739A (en) | 2022-11-24 | 2022-11-24 | Electronic inclinometer for ship and calculation method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116902177A (en) * | 2023-09-14 | 2023-10-20 | 山东航宇游艇发展有限公司 | Yacht abnormal state intelligent monitoring method and system based on Internet of things |
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- 2022-11-24 CN CN202211484236.8A patent/CN115773739A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116902177A (en) * | 2023-09-14 | 2023-10-20 | 山东航宇游艇发展有限公司 | Yacht abnormal state intelligent monitoring method and system based on Internet of things |
| CN116902177B (en) * | 2023-09-14 | 2023-12-08 | 山东航宇游艇发展有限公司 | Yacht abnormal state intelligent monitoring method and system based on Internet of things |
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