CN116608831A - Ship equipment pose measurement method and device - Google Patents
Ship equipment pose measurement method and device Download PDFInfo
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- CN116608831A CN116608831A CN202310381491.8A CN202310381491A CN116608831A CN 116608831 A CN116608831 A CN 116608831A CN 202310381491 A CN202310381491 A CN 202310381491A CN 116608831 A CN116608831 A CN 116608831A
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- 238000000691 measurement method Methods 0.000 title claims abstract description 8
- 238000005259 measurement Methods 0.000 claims abstract description 123
- 238000006243 chemical reaction Methods 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 abstract description 15
- 230000009286 beneficial effect Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 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
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of azimuth measurement, in particular to a position and attitude measurement method and device of ship equipment, wherein the position and attitude measurement device of the ship equipment comprises measurement equipment, the measurement equipment comprises a position measurement module and an angle measurement module, the measurement equipment is arranged on an installation platform, a fixed structure fixed with the ship equipment is arranged on the installation platform, a measurement plane is arranged on the installation platform, the measurement plane is a reference plane of the position measurement module and the angle measurement module, the position measurement module is used for measuring position and attitude data of the ship equipment taking the reference plane as the reference, the angle measurement module is used for measuring the inclination angle of the reference plane relative to the ship plane, and the data measured by the position measurement module is converted into data taking the ship plane as the reference through a coordinate conversion relation, so that the position and attitude measurement of the ship equipment in a dynamic state is realized.
Description
Technical Field
The invention relates to the technical field of azimuth measurement, in particular to a method and a device for measuring the pose of ship equipment.
Background
The missile vertical launching device is used as important equipment for a water surface ship, naval water surface warships are commonly arranged, the guide rail of the missile vertical launching device has the function of guiding missile movement, the pose change of the guide rail of the missile vertical launching device determines the missile launching precision, the measuring time of the vertical precision and the azimuth precision of the guide rail of the missile vertical launching device is static measurement in a dock, the measuring mode is to take a ship plane (a ship body datum plane) as a datum plane and the ship stern line azimuth as a datum direction, the deviation of the guide rail relative to the ship plane in the directions of the ship stern line and the vertical ship stern line is measured, the datum of the conventional measuring equipment is a ground horizontal plane, and when the ship is static, the ship plane is basically parallel to the ground horizontal plane, so that the pose measured by the measuring equipment with the ground horizontal plane as the datum can be equivalent to the pose with the ship plane as the datum. However, in the sailing state, the pose of the missile vertical launching device is separated from the steady-state environment of the ground surface, the current measuring equipment cannot be kept parallel to the plane of the ship, the pose measurement of the guide rail of the launching device cannot be completed under the condition of no horizontal reference, and the ship can be stressed to deform in the sailing state, so that the azimuth and the pose of the launching device and a ship body coordinate system are changed, and the weapon striking precision is reduced. Therefore, the problem of pose measurement of ship equipment in a dynamic sailing state is solved.
Disclosure of Invention
The invention aims to provide a ship equipment pose measurement method, which aims to solve the problem that the existing measurement method cannot be suitable for dynamic measurement; the invention aims to provide a ship equipment pose measuring device, which solves the problem that the existing measuring device cannot be suitable for dynamic measurement.
The technical scheme of the ship equipment pose measurement method is as follows:
a ship equipment pose measurement method comprises the following steps: selecting a plane on a measurement module mounting platform fixed with ship equipment, taking the plane as a reference plane of a position measurement module and an angle measurement module on the measurement module mounting platform, measuring pose data of the ship equipment taking the reference plane as a reference through the position measurement module, measuring an inclination angle of the reference plane relative to the ship plane through the angle measurement module, and converting the data measured by the position measurement module into data taking the ship plane as the reference through a coordinate conversion relation.
The beneficial effects are that: the reference surface of the position measurement module and the reference surface of the angle measurement module are ensured to be on the same plane by utilizing the measurement module mounting platform, the position measurement module is matched with the angle measurement module, and the angle measurement module can measure the inclination angle of the reference surface in a dynamic state relative to the plane of the ship, so that the data taking the reference surface as the reference, which is measured by the position measurement module, can be converted into the data taking the plane of the ship as the reference through a coordinate conversion relation, and further, the pose measurement of the ship equipment in the dynamic state is realized.
Further, the ship equipment is a guide rail, the straightness of the guide rail is measured through the laser module on the measuring module mounting platform, and the pose of the guide rail is calculated by using the measured data of the position measuring module, the angle measuring module and the laser module.
The beneficial effects are that: the laser module is used for assisting in measurement, so that the measurement accuracy of the position and the posture of the guide rail can be improved.
Further, the position measuring module, the angle measuring module and the laser module are transmitted to the processing module, and the measuring software of the processing module calculates the pose of the guide rail.
The beneficial effects are that: and pose information is calculated by using measurement software, so that the measurement efficiency is improved.
The technical scheme of the ship equipment pose measuring device is as follows:
the utility model provides a naval vessel equipment pose measuring device, including measuring equipment, measuring equipment includes position measurement module and angle measurement module, measuring equipment installs on mounting platform, be equipped with on the mounting platform with the fixed knot of naval vessel equipment construct, be equipped with the measurement plane on the mounting platform, the measurement plane is the reference plane of position measurement module and angle measurement module, position measurement module is used for measuring naval vessel equipment and uses the pose data of reference plane as the benchmark, angle measurement module is used for measuring the inclination of reference plane for the naval vessel plane to through coordinate conversion relation with the data conversion of position measurement module measurement to the data of taking the naval vessel plane as the benchmark.
The beneficial effects are that: the reference surface of the position measurement module and the reference surface of the angle measurement module are ensured to be on the same plane by utilizing the measurement module mounting platform, the position measurement module is matched with the angle measurement module, and the angle measurement module can measure the inclination angle of the reference surface in a dynamic state relative to the plane of the ship, so that the data taking the reference surface as the reference, which is measured by the position measurement module, can be converted into the data taking the plane of the ship as the reference through a coordinate conversion relation, and further, the pose measurement of the ship equipment in the dynamic state is realized.
Further, the measuring equipment is matched with a processing module, and the processing module is used for receiving data of the position measuring module and the angle measuring module and resolving the pose of the ship equipment.
The beneficial effects are that: and the processing module is used for receiving the data and resolving the pose information, so that the measurement efficiency is improved.
Further, the mounting platform comprises a top seat, a base and a stand column between the top seat and the base.
The beneficial effects are that: through the mounting platform of frame construction, be convenient for fixed mounting.
Further, the position measuring module and the angle measuring module are respectively arranged on the upper side and the lower side of the top seat.
The beneficial effects are that: space is saved, the size of the installation platform is reduced, and the installation platform is convenient to arrange.
Further, the measuring equipment further comprises a laser module, the laser module is arranged on the top seat, and a through hole for avoiding laser emitted by the laser module is formed in the base.
The beneficial effects are that: the laser module, the position measuring module and the angle measuring module are fixed on the top seat, so that the structure of the mounting platform is simplified, and the laser emitted by the laser module is ensured to irradiate the measured surface by utilizing the through hole on the base.
Drawings
FIG. 1 is a schematic diagram of the installation structure of a measurement device and an installation platform in embodiment 1 of a ship device pose measurement device of the present invention;
FIG. 2 is a schematic view of the backside view of FIG. 1;
fig. 3 is a schematic diagram of a measurement flow in embodiment 1 of the ship equipment pose measurement device of the present invention.
In the figure: 1. a position measurement module; 2. an angle measurement module; 3. a laser module; 4. a mounting platform; 5. avoiding the through hole.
Detailed Description
Embodiment 1 of the marine vessel equipment pose measurement device of the present invention:
the ship equipment pose measuring device comprises measuring equipment and a processing module matched with the measuring equipment, as shown in fig. 1 and 2, the measuring equipment comprises a position measuring module 1, an angle measuring module 2 and a laser module 3, the measuring equipment is arranged on an installation platform 4, the position measuring module 1 is a laser tracker, the angle measuring module 2 is an inertial measuring component, and the laser module 3 is a laser collimator. The ship equipment pose measurement device in the embodiment is used for pose measurement of the guide rail of the missile vertical launching device, and correspondingly, the installation platform 4 is matched with the guide rail part of the missile vertical launching device.
The mounting platform 4 comprises a footstock, a base and an upright post between the footstock and the base, the position measuring module 1 and the angle measuring module 2 are respectively arranged on the upper side and the lower side of the footstock and are positioned at the center position of the footstock, the laser module 3 is arranged on the footstock, a fixing rod is arranged on the upper side of the footstock, and the fixing rod forms a fixing structure which is fixed with ship equipment, so that the mounting platform 4 is fixed with a fixing matrix of a guide rail of the missile vertical launching device. The guide rail of the missile vertical emission device vertically extends, the upright post is consistent with the extending direction of the guide rail, and an avoidance through hole 5 for avoiding laser emitted by the laser module 3 is arranged on the base, so that the laser emitted by the laser module 3 is ensured to irradiate on a measured surface. The position measuring module 1, the angle measuring module 2 and the laser module 3 are used in the prior art.
In this embodiment, the bottom surface of the position measurement module 1, that is, the installation plane of the top seat of the installation platform 4, which is used for installing the position measurement module 1, is used as the reference plane of the position measurement module 1, the installation plane is also the measurement plane that forms the reference planes of the position measurement module 1 and the angle measurement module 2, the reference plane of the position measurement module 1 and the reference plane of the angle measurement module 2 are on the same plane, the position measurement module 1 is used for measuring the X, Y, Z coordinates of the characteristic points of the positioning section of the guide rail of the missile vertical emission device, the angle measurement module 2 is used for measuring the inclination angle of the reference plane relative to the plane of the ship, that is, the hull reference plane, and the inclination angle of the reference plane relative to the plane of the ship, that is, the deviation between the installation platform 4 and the ship reference is obtained, can determine the coordinate conversion relation, the data measured by the position measurement module 1 can be converted into the data taking the plane of the ship as the reference through the coordinate conversion relation, the laser module 3 is used for measuring the straightness of the guide rail of the missile vertical emission device, and the three measurement instruments are uniformly transmitted to the processing module through the controller, and the processing module, and the state of the missile vertical attitude of the guide rail is calculated by the measurement software on the processing module.
When the missile vertical launching device is measured, the flow is shown in figure 3, measuring software is opened when measuring equipment is installed on an installation platform and the installation platform is fixed at a position corresponding to a guide rail, the position measuring module, the angle measuring module and the laser module measure data, the position coordinates and the angles of the guide rail of the missile vertical launching device relative to a ship plane are obtained through combined calculation of the measuring software, further pose information such as azimuth precision and vertical precision of the missile vertical launching device is obtained, the technical problem of guide rail pose measurement of the missile vertical launching device in a dynamic state is effectively solved, the method can also be used for measuring guide rail precision of the missile vertical launching device in a static state, the measuring efficiency is high, synchronous transmission and calculation of measured data can be realized, and standard industrial transmission port transmission is used for data transmission.
Example 2 of the marine vessel equipment pose measurement device of the present invention:
the present embodiment is different from embodiment 1 in that the measuring apparatus in embodiment 1 includes a position measuring module, an angle measuring module, and a laser module. In this embodiment, the laser module is not provided, and the measuring device includes a position measuring module and an angle measuring module.
Embodiment 3 of the marine vessel equipment pose measurement device in the invention:
the present embodiment is different from embodiment 1 in that the position measuring module and the angle measuring module in embodiment 1 are respectively disposed on the upper and lower sides of the top base. In this embodiment, the position measuring module and the angle measuring module are both disposed at the lower side of the top base.
The embodiment of the ship equipment pose measuring method comprises the following steps:
in this embodiment, a measurement device used for implementing a method for measuring the pose of a ship device is the same as the pose measurement device of the ship device in any one of embodiments 1 to 3 of the foregoing device, and the method for measuring the pose of a guide rail of a missile vertical launching device in this embodiment includes: selecting a plane on a measurement module mounting platform fixed with ship equipment, wherein the plane is a measurement plane, the plane is used as a reference plane of a position measurement module and an angle measurement module on the measurement module mounting platform, pose data of the ship equipment taking the reference plane as a reference is measured through the position measurement module, the inclination angle of the reference plane relative to the ship plane is measured through the angle measurement module, and the data measured by the position measurement module are converted into data taking the ship plane as a reference through a coordinate conversion relation; measuring the straightness of the guide rail through a laser module on a measuring module mounting platform; and transmitting measurement data of the position measurement module, the angle measurement module and the laser module to the processing module, and calculating pose information such as azimuth precision and vertical precision of the guide rail by measurement software of the processing module.
It should be noted that the above-mentioned embodiments are merely preferred embodiments of the present invention, and the present invention is not limited to the above-mentioned embodiments, but may be modified without inventive effort or equivalent substitution of some of the technical features thereof by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a ship equipment pose measurement method which is characterized by comprising the following steps: selecting a plane on a measurement module mounting platform fixed with ship equipment, taking the plane as a reference plane of a position measurement module and an angle measurement module on the measurement module mounting platform, measuring pose data of the ship equipment taking the reference plane as a reference through the position measurement module, measuring an inclination angle of the reference plane relative to the ship plane through the angle measurement module, and converting the data measured by the position measurement module into data taking the ship plane as the reference through a coordinate conversion relation.
2. The method for measuring the pose of the ship equipment according to claim 1, wherein the ship equipment is a guide rail, the straightness of the guide rail is measured through a laser module on a measurement module mounting platform, and the pose of the guide rail is calculated by using measurement data of a position measurement module, an angle measurement module and the laser module.
3. The method for measuring the pose of ship equipment according to claim 2, wherein the measuring data of the position measuring module, the angle measuring module and the laser module are transmitted to the processing module, and the pose of the guide rail is calculated by measuring software of the processing module.
4. The utility model provides a naval vessel equipment pose measuring device, including measuring equipment, characterized by, measuring equipment includes position measurement module and angle measurement module, measuring equipment installs on mounting platform, be equipped with on the mounting platform with naval vessel equipment fixed knot construct, be equipped with the measurement plane on the mounting platform, the measurement plane is the reference plane of position measurement module and angle measurement module, position measurement module is used for measuring naval vessel equipment and uses the reference plane as the pose data of benchmark, angle measurement module is used for measuring the inclination of reference plane for the naval vessel plane, with the data conversion of the data of position measurement module measurement to the data of taking the naval vessel plane as the benchmark through coordinate conversion relation.
5. The ship equipment pose measurement device according to claim 4, wherein the measurement equipment is matched with a processing module, and the processing module is used for receiving data of the position measurement module and the angle measurement module and resolving the pose of the ship equipment.
6. The marine vessel equipment pose measurement device of claim 4, wherein the mounting platform comprises a footstock, a base, and a column between the footstock and the base.
7. The ship equipment pose measuring device according to claim 6, wherein the position measuring module and the angle measuring module are respectively arranged on the upper side and the lower side of the top seat.
8. The ship equipment pose measurement device according to claim 7, wherein the measurement equipment further comprises a laser module, the laser module is arranged on the top seat, and a through hole for avoiding laser emitted by the laser module is formed in the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310381491.8A CN116608831A (en) | 2023-04-11 | 2023-04-11 | Ship equipment pose measurement method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310381491.8A CN116608831A (en) | 2023-04-11 | 2023-04-11 | Ship equipment pose measurement method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116608831A true CN116608831A (en) | 2023-08-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310381491.8A Pending CN116608831A (en) | 2023-04-11 | 2023-04-11 | Ship equipment pose measurement method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116608831A (en) |
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2023
- 2023-04-11 CN CN202310381491.8A patent/CN116608831A/en active Pending
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