JP2005249543A - Measurement method and measurement system for prescribed surface - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To accurately and rapidly measure a prescribed surface such as an installation surface on a movable body with an antenna installed thereon with respect to a reference surface of the movable body even in such a state where the movable body is shaking. <P>SOLUTION: A main gyro device is provided on the reference surface S of the movable body while an incline measuring instrument including a sub-gyro device is provided on the prescribed surface M. Arithmetic processing is performed based on various data obtained therefrom to find the coordinates of the prescribed surface M expressed by means of the coordinates of the reference surface. This makes it possible to accurately measure the prescribed surface M such as the installation surface on the movable body with the antenna installed thereon with respect to the reference surface S of the movable body even in such a state where the movable body is shaking. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a predetermined surface measurement method and system for measuring a predetermined surface such as an installation surface when a narrow beam antenna used for a radar device, a communication device, or the like is installed on a moving body such as a ship.

  In mobile bodies such as ships, satellite communication devices that transmit and receive data to and from communication satellites using narrow beam directional antennas, radar devices that detect targets in a specific direction, etc. are often used. Yes.

  In these satellite communication devices and radar devices, it is necessary to direct the antenna beam in a specific direction. However, a moving body such as a ship moves up and down or rotates due to the influence of waves or the like. As a result, the antenna directivity direction deviates from the correct direction.

  In order to correct such an antenna shake and always direct the beam in a predetermined direction, a gyro device is provided on the moving body, and the moving body is moved up and down and rotated to correct the movement. There has been proposed one in which the beam of the antenna is directed in the correct direction regardless of body motion (Patent Document 1).

A gyro device provided in a moving body such as a ship is generally used not only for correction control of an antenna directivity direction but also for providing basic navigation data for operating the ship. In many cases, this gyro device is installed at a location different from the installation location of the antenna of the satellite communication device or the radar device, for example, near the center of gravity of the ship. On the other hand, the antenna device is provided on the upper side of the ship so as not to interfere with transmission and reception of radio waves. Therefore, in order to accurately perform correction control of the antenna device using the output of the gyro device, that is, the roll signal, the pitch signal, and the course signal, the coordinates of the surface of the reference position (hereinafter referred to as the reference surface) on which the gyro device is provided. On the other hand, it is necessary to accurately measure the relative positional relationship (position and inclination; coordinates) of the surface of the installation position where the antenna device is installed (hereinafter referred to as installation surface).
Japanese Patent Laid-Open No. 11-153657

  In a survey technique generally used for coordinate calculation, since a survey is performed from a reference position, if there is a structure or the like on the way to the installation surface, it is sequentially obtained while providing a plurality of intermediate reference points. Therefore, high-precision surveying technology is required to accurately measure the relative relationship between the reference surface and the installation surface, and the relative inclination of the installation surface is particularly accurate because the installation surface area is small. It is very difficult to measure.

  In addition, as another method of obtaining the inclination of the installation surface, there is a method of obtaining the inclination directly using a level, but even if the ship is moored, the hull is affected by the influence of waves and the weight balance in the ship. Because it moves, it cannot be measured accurately. In this leveling surveying method, measurement is performed with a dock in order to remove uncertain elements, but considerable time and cost are required for the measurement.

  Therefore, the present invention includes a position and an inclination of a predetermined surface such as an installation surface on which an antenna on the moving body is installed with respect to the reference surface of the moving body even when the moving body is shaken. It is an object of the present invention to provide a measurement method and a measurement system that measure accurately and promptly.

The predetermined surface measuring method according to claim 1 is a predetermined surface for measuring a surface (hereinafter referred to as a predetermined surface) M at a predetermined position on a moving body with respect to a surface (hereinafter referred to as a reference surface) S at a reference position of the moving body. In the measurement method,
Reference surface roll axis data Rg on the reference surface S, reference surface pitch axis by a main gyro device having a roll axis angle detector, a pitch axis angle detector and a coarse axis angle detector provided on the reference surface S of the moving body. Acquire data Pg and reference plane course axis data Cg,
Predetermined surface roll axis data Ra on the predetermined surface M, a predetermined surface by an inclined surface measuring device provided on the predetermined surface M and including a secondary gyro device having a roll axis angle detector, a pitch axis angle detector, and a coarse axis angle detector. Obtaining surface pitch axis data Pa and predetermined surface course axis data Ca;
Based on the reference surface roll axis data Rg, the reference surface pitch axis data Pg, the reference surface course axis data Cg, the predetermined surface roll axis data Ra, the predetermined surface pitch axis data Pa, and the predetermined surface course axis data Ca, arithmetic processing is performed. And the coordinates of the predetermined plane M expressed by the coordinates of the reference plane S are obtained.

  The predetermined surface measurement method according to claim 2 is the predetermined surface measurement method according to claim 1, wherein the calculation processing includes the predetermined surface roll axis data Ra, the predetermined surface pitch axis data Pa, and the predetermined surface course axis data Ca. Using the first matrix (A) and the second matrix (G) composed of the reference surface roll axis data Rg, the reference surface pitch axis data Pg, and the reference surface course axis data Cg, the coordinates of the reference surface S are used. The coordinates of the predetermined plane M with respect to are obtained.

The predetermined surface measuring method according to claim 3 is a predetermined surface measuring method for measuring an inclination of the predetermined surface M on the moving body.
Reference surface roll axis data Rg on the reference surface S, reference surface pitch axis by a main gyro device having a roll axis angle detector, a pitch axis angle detector and a coarse axis angle detector provided on the reference surface S of the moving body. Acquire data Pg and reference plane course axis data Cg,
The predetermined surface roll axis data Ra and the predetermined surface pitch axis data Pa on the predetermined surface M are provided by the inclined surface measuring device provided on the predetermined surface M and including a sub-gyro apparatus having a roll axis angle detector and a pitch axis angle detector. Get
Course angle data Cd formed by a center line L1 connecting the front part and the rear part of the movable body or a parallel line L1a parallel to the center line and a measurement line L2 based on the inclined surface measuring instrument;
Based on these reference surface roll axis data Rg, reference surface pitch axis data Pg, reference surface course axis data Cg, predetermined surface roll axis data Ra, pitch axis data Pa, and course angle data Cd, The coordinates of the predetermined surface M expressed by the coordinates of the reference surface S are obtained.

  The predetermined surface measurement method according to claim 4 is the predetermined surface measurement method according to claim 3, wherein the calculation processing includes the predetermined surface roll axis data Ra, the predetermined surface pitch axis data Pa, and predetermined surface course axis data Ca. The predetermined surface roll axis data Ra and the predetermined surface pitch axis data Pa, the reference surface roll axis data Rg, the reference surface pitch axis data Pg, and the reference surface course axis data Cg in one matrix (A). The coordinates of the predetermined surface M with respect to the coordinates of the reference surface S are obtained using the second matrix (G) and the course angle data Cd.

  The predetermined surface measuring method according to a fifth aspect is the predetermined surface measuring method according to the third aspect, wherein the course angle data Cd is obtained by an angle measuring device provided on the predetermined surface M.

  The predetermined surface measurement method according to claim 6 is the predetermined surface measurement method according to claim 3, wherein the course angle data Cd is read data obtained from a scale attached to the inclined surface measuring device and the measurement of the inclined surface measuring device. It is obtained based on the dimension in the direction of the line.

The inclined surface measurement system according to claim 7 is a predetermined surface measurement system that measures a predetermined surface M provided at a predetermined location on a moving body with respect to a surface (hereinafter referred to as a reference surface) S of a reference position of the moving body. ,
A roll axis angle detector that is provided on the reference surface S of the movable body and outputs reference surface roll axis data Rg on the reference surface S, a pitch axis angle detector that outputs reference surface pitch axis data Pg, and a reference surface course axis A main gyro apparatus having a coarse axis angle detector for outputting data Cg;
A roll axis angle detector that is provided on the predetermined surface M and outputs predetermined surface roll axis data Ra on the predetermined surface M, a pitch axis angle detector that outputs predetermined surface pitch axis data Pa, and predetermined surface course axis data Ca. An inclined surface measuring device including a secondary gyro device having a course axis angle detector for outputting;
The reference surface roll axis data Rg, the reference surface pitch axis data Pg, the reference surface course axis data Cg, the predetermined surface roll axis data Ra, the predetermined surface pitch axis data Pa, and the predetermined surface course axis data Ca are collected and collected. And a data collection calculation unit that performs calculation processing for obtaining the coordinates of the predetermined surface M expressed by the coordinates of the reference surface S based on each data.

  The predetermined surface measuring system according to an eighth aspect is the predetermined surface measuring system according to the seventh aspect, wherein the inclined surface measuring device is removed after the arithmetic processing is completed.

  A predetermined surface measurement system according to a ninth aspect is the predetermined surface measurement system according to the seventh aspect, wherein the data collection calculation unit includes the predetermined surface roll axis data Ra, the predetermined surface pitch axis data Pa, and the predetermined surface course axis data Ca. And the second matrix (G) composed of the reference surface roll axis data Rg, the reference surface pitch axis data Pg, and the reference surface course axis data Cg. The coordinates of the predetermined surface M with respect to the coordinates are obtained.

The predetermined surface measurement system according to claim 10 is a predetermined surface measurement system that measures a predetermined surface M provided at a predetermined location on a moving body with respect to a surface (hereinafter referred to as a reference surface) S of a reference position of the moving body. ,
A roll axis angle detector that is provided on a surface (hereinafter referred to as a reference surface) S of the movable body and outputs reference surface roll axis data Rg on the reference surface S, and a pitch axis that outputs reference surface pitch axis data Pg. A main gyro device having an angle detector and a course axis angle detector for outputting reference plane course axis data Cg;
A tilt including a roll axis angle detector provided on the predetermined surface M and outputting a predetermined surface roll axis data Ra on the predetermined surface M and a sub-gyro device having a pitch axis angle detector outputting predetermined surface pitch axis data Pa. A surface measuring instrument;
An angle setting means for setting course angle data Cd formed by a center line L1 connecting the front part and the rear part of the movable body or a parallel line L1a parallel to the center line and a measurement line L2 based on the inclined surface measuring device;
Calculation processing is performed based on the reference surface roll axis data Rg, the reference surface pitch axis data Pg, the reference surface course axis data Cg, the predetermined surface roll axis data Ra, the predetermined surface pitch axis data Pa, and the course angle data Cd. And the coordinates of the predetermined plane M expressed by the coordinates of the reference plane S are obtained.

  The predetermined surface measurement system according to an eleventh aspect is the predetermined surface measurement system according to the tenth aspect, wherein the inclined surface measuring device is removed after the calculation process is completed.

The predetermined surface measurement system according to claim 12 is the predetermined surface measurement system according to claim 10, wherein the data collection calculation unit includes:
The predetermined surface roll axis data Ra and the predetermined surface pitch axis data Pa in the first matrix (A) including the predetermined surface roll axis data Ra, the predetermined surface pitch axis data Pa, and the predetermined surface course axis data Ca, and Using the reference surface roll axis data Rg, the reference surface pitch axis data Pg and the reference surface course axis data Cg, and the course angle data Cd, the coordinates relative to the coordinates of the reference surface S are used. The coordinates of the predetermined surface M are obtained.

  According to the measurement method and measurement system for a predetermined surface of the present invention, a main gyro device is provided on the reference surface S of the moving body, and an inclined surface measuring instrument including a sub-gyro device is provided on the predetermined surface M, and each obtained from them. Since the calculation processing is performed based on the axis data to obtain the coordinates of the predetermined surface M expressed by the coordinates of the reference surface, the moving body shakes the predetermined surface M such as the installation surface on which the antenna on the moving body is installed. Even in this state, it is possible to measure with high accuracy with respect to the reference plane S of the moving body.

  Also, a main gyro apparatus having a roll axis angle detector, a pitch axis angle detector, and a coarse axis angle detector on the reference surface S of the moving body, and a roll axis angle detector and a pitch axis angle detector on the predetermined plane M are provided. An inclined surface measuring device including a sub-gyro device, and angle setting means for measuring and setting course angle data Cd formed by a measurement line based on the inclined surface measuring device and a center line connecting the front and rear portions of the moving body. Provide. Since the calculation processing is performed based on each axis data obtained from them and the course angle data Cd, and the coordinates of the predetermined surface M expressed by the coordinates of the reference surface S are obtained, the installation surface on which the antenna on the moving body is installed The predetermined surface M such as can be measured accurately and promptly with respect to the reference surface S of the moving body even when the moving body is shaking.

  Further, the auxiliary gyro apparatus may have a two-axis angle detector of a roll axis and a pitch axis, and a course gyro for obtaining a course axis angle is unnecessary. Since this course gyro is very expensive compared to a vertical gyro for obtaining a roll axis angle and a pitch axis angle, the measuring device can be configured at a low cost.

  In addition, since the course gyro takes a long time to stabilize its orientation (for example, 6 hours), the time required for measurement can be shortened by replacing the angle gyro with the angle measuring means.

  The course angle data Cd set by the angle setting means uses an angle measuring device provided on the predetermined surface M, or reading data obtained from a scale attached to the inclined surface measuring device and the dimensions of the inclined surface measuring device itself. Since it can be easily obtained by use, it can be constructed at a very low cost.

  Hereinafter, an embodiment according to the present invention will be described with reference to the drawings, taking a ship as an example of a moving body. In the present invention, the moving body is not limited to a ship but can be applied to a flying body such as an aircraft and a vehicle such as an automobile.

  FIG. 1 shows a general view of a ship to which a measuring method and a measuring system for a predetermined surface on a ship according to the present invention are applied. FIG. 2 shows a configuration diagram of a method and a measurement system for a predetermined surface according to the first embodiment of the present invention.

  1 and 2, the ship 1 is provided with a narrow beam directional antenna 2 for a satellite communication device that transmits and receives data to and from a communication satellite and a radar device that detects a target in a specific direction. ing. The directional antenna 2 is provided on the upper side of the ship so as not to interfere with transmission / reception of radio waves. The ship 1 is provided with a main gyro device 20 at a location close to the position of its center of gravity in order to provide correction control of the antenna pointing direction and basic navigation data for operating the ship. The main gyro device 20 is provided on a reference position plane (hereinafter referred to as a reference plane) S of the ship 1.

  The ship coordinate system “xs, ys, zs” obtained by the main gyro device 20 is a coordinate system for the absolute coordinate system (earth coordinate system) “x, y, z”. On the other hand, the antenna 2 is installed on a surface M (that is, a predetermined surface, hereinafter referred to as an installation surface) M at a predetermined position on the ship 1. Accordingly, the installation surface coordinate system “xa, ya, za” of the installation surface M is also a coordinate system for the absolute coordinate system (earth coordinate system) “x, y, z”. The installation surface M is distanced from the reference surface S, and the inclination of the surface is usually different. In FIG. 1, the xn axis represents the roll axis, the yn axis represents the course axis, and the zn axis represents the pitch axis. n is s, a, d.

  Therefore, in order to control the attitude of the antenna 2 installed on the installation surface M with each data of the main gyro apparatus 20 provided on the reference surface S, the installation surface coordinate system “xa, ya, za” It is necessary to obtain ship reference installation plane coordinates (indicated by “xd, yd, zd” in FIG. 1) obtained by correcting “xs, ys, zs” as a reference. However, the ship reference installation plane coordinates “xd, yd, zd” are unknown.

  In FIG. 2, the main gyro device 20 includes a roll axis angle detector 22 that outputs reference plane roll axis data Rg on the reference plane S, a pitch axis angle detector 23 that outputs reference plane pitch axis data Pg, and a reference plane course axis. A coarse axis angle detector 21 that outputs data Cg is provided.

  The inclined surface measuring device 30 is provided on the installation surface M, and includes a roll axis angle detector 32 that outputs installation surface roll axis data Ra, a pitch axis angle detector 33 that outputs installation surface pitch axis data Pa, and an installation surface course axis. The auxiliary gyro device includes a coarse axis angle detector 31 that outputs data Ca.

  The navigation data collector 12 includes the reference surface roll axis data Rg, the reference surface pitch axis data Pg, and the reference surface course axis data Cg, the installation surface roll axis data Ra, the installation surface pitch axis data Pa, and the installation surface course axis data Ca. Are supplied to the computer 11. As for each of these data, it is most preferable to acquire data at the same point. However, since the period of the wave that is the source of the fluctuation of the ship 1 is about several seconds, a difference in acquisition time that does not affect the calculation accuracy when data is acquired is allowed. Therefore, since it is sufficient that the data can be acquired at approximately the same time, each data may be acquired serially.

  The computer 11 performs a calculation based on the axis data Rg, Pg, Cg of the reference plane S and the axis data Ra, Pa, Ca of the installation plane M acquired almost at the same time, and the ship reference installation plane Get the coordinates “xd, yd, zd”.

  Now, the unknown ship reference installation plane coordinates “xd, yd, zd” indicate a relative relationship between the ship coordinate system “xs, ys, zs” and the installation plane coordinate system “xa, ya, za”. Once the coordinate transformation matrix is obtained, the ship reference installation plane coordinates “xd, yd, zd” are expressed using the ship coordinate system “xs, ys, zs” and the installation plane coordinate system “xa, ya, za”. It can be expressed as (1). That is, as in Expression (1), the installation plane coordinate system “xa, ya, za” expressed in relation to the ship coordinate system “xs, ys, zs” is the ship reference installation plane coordinate “xd, yd, zd ".

  Here, the installation plane coordinate system “xa, ya, za” is expressed as in Expression (2) in relation to the absolute coordinate form “x, y, z”.

  Further, the reference plane coordinate system “xs, ys, zs” is expressed as Expression (3) in relation to the absolute coordinate form “x, y, z”.

However, the matrix (D) is unknown and is represented by the equation (4).
(D) = (Cd) (Pd) (Rd) (4)

The first matrix (A) is represented by Expression (5).

The second matrix (G) is represented by Expression (6).

  Note that (Pn) (Rn) (Cn) in (D), (A), and (G) indicate the rotation matrix of each axis of each coordinate. n is s, a, d.

Substituting equation (3) into equation (1) and representing it with the earth coordinates “x, y, z”, and (Pn) (Rn) (Cn) are data at the same time, so equation (1) and equation (2) Can be equal. Since the first matrix (A) and the second matrix (G) are calculated using the measured data, the unknown matrix (D) indicated by the inclination of the installation surface M is expressed by the following equation (7). Indicated by
(D) = (A) (G) ⁻¹ (7)

By solving this equation (7), each element of the unknown matrix (D) is obtained as in equations (8a) to (8b).
sinPd = ((G10G22-G12G20) (G21A10-G20A11)-(G10G21-G11G20) (G22A10-G20A12)) / (-G00G21 + G01G20) (G10G22-G12G20)-(G02G20-G00G22) (G10G21-G11G20 )
cosRd = (G22A10-G20A12-sinPd (G02G20-G00G22)) / ((G10G22-G12G20) cosPd) (8b)
sinCd = ((cosPdG01 + sinPdcosRdG11-sinRdsinPdG21) A00
-(cosPdG00 + sinPdcosRdG10-sinRdsinPdG20)) /
((sinRdG11 + sinRdG21) (cosPdG00 + sinPdcosRdG10-sinRdsinPdG20)-(sinRdG10 + cosRdG20) (cosPdG01 + sinPdcosRdG11-sinRdsinPdG21)) (8c)
Here, Gnm and Anm are elements (00 to 22) of the matrices (G) and (A).

  The parameters Pd, Rd, and Cd of each axis component on the installation surface M are determined by the above formula. By substituting each parameter on the installation surface M into Expression (4) to create a correction matrix Do and substituting this into the matrix D of Expression (1), the coordinates of the installation surface M are correctly indicated. .

  As described above, in the first embodiment of the present invention, the inclined surface measuring device 30 including the main gyro device 20 on the reference plane S of the ship 1 that is a moving body and the sub-gyro device on the antenna installation surface M that is the installation surface. The installation surface M expressed by the coordinates of the reference plane S by performing arithmetic processing based on the axis data (Ca) (Pa) (Ra), (Cg) (Pg) (Rg) obtained therefrom. Therefore, the installation surface M on which the antenna 2 on the ship 1 is installed can be accurately measured with respect to the reference plane S even when the ship 1 is shaking.

  In addition, the inclined surface measuring instrument 30 including the sub-gyro device is removed after the calculation process for obtaining the coordinates of the installation surface M is performed, and therefore does not occupy a part of the installation surface. Moreover, it can be diverted for measurement of other ships.

  FIG. 3 shows a configuration diagram of the installation surface measurement method and measurement system according to the second embodiment of the present invention. In the second embodiment, the sub-gyro device of the inclined surface measuring device 30A placed on the installation surface M has two roll gyros and a pitch gyro, and a configuration without a course gyro is used. Also in the second embodiment, the ship 1, the antenna 2 installed thereon, each coordinate system, the reference surface S, the installation surface M, and the like are as described in FIG. 1 as in the first embodiment.

  In FIG. 3, the main gyro apparatus 20 includes a roll axis angle detector 22 that outputs the reference surface roll axis data Rg on the reference surface S, and a pitch axis that outputs the reference surface pitch axis data Pg, as described in FIG. An angle detector 23 and a coarse axis angle detector 21 that outputs reference plane coarse axis data Cg are provided.

  The inclined surface measuring device 30A is provided on the installation surface M, and has a roll axis angle detector 32 that outputs installation surface roll axis data Ra, and a sub-gyro apparatus having a pitch axis angle detector 33 that outputs installation surface pitch axis data Pa. It is comprised including. The auxiliary gyro apparatus of the second embodiment is not provided with a course axis angle detector that outputs installation surface course axis data Ca.

  The navigation data collector 12 collects the reference surface roll axis data Rg, the reference surface pitch axis data Pg, the reference surface course axis data Cg, the installation surface roll axis data Ra, and the installation surface pitch axis data Pa. To supply. Each of these data is the same as in the first embodiment, and data acquired at almost the same point is used.

  Further, course angle data Cd formed by a center line L1 connecting the front and rear of the ship 1 or a parallel line L1a parallel to the center line and a measurement line L2 based on the inclined surface measuring device 30 is acquired, and this course angle is obtained. Data Cd is input from the angle setting means 13 to the computer 11.

  The computer 11 obtains the axis data Rg, Pg, Cg of the reference surface S, the axis data Ra, Pa of the installation surface M, and the course angle data input from the angle setting means 13 obtained at substantially the same time. Based on Cd, calculation is performed to obtain ship reference installation plane coordinates “xd, yd, zd”.

  FIG. 4 is a diagram showing a first angle measurement example for measuring the course angle in the second embodiment.

  A center line (ie, the bow tail line) L1 connecting the bow part and the stern part of the ship 1 or a parallel line L1a parallel to the bow tail line L1, and the roll axis (xa axis) or pitch axis ( The course angle data Cd formed by the measurement line L2 based on the za axis) is measured by the angle measuring device 35 attached to the inclined surface measuring device 30A.

  The stern line L1 is usually obtained by using markers such as poles provided at the bow and stern of the ship 1, and the parallel line L1a parallel to the stern line L1a also uses the marker, a distant target, etc. Easy to get. Further, the measurement line L2 is clearly indicated by an instruction line displayed on the inclined surface measuring instrument 30A.

  The course angle data Cd obtained by the angle measuring device 35 is unknown data in the first embodiment, but is obtained by measurement in the second embodiment. The course angle data Cd corresponds to, for example, the setting surface course axis data Ca minus the reference surface course axis data Cg.

  FIG. 5 is a diagram illustrating a second angle measurement example in which the course angle is measured in the second embodiment.

  A parallel line L1a (may be the bow tail line L1) parallel to the bow tail line L1 of the ship 1 and a measurement line L2 based on the roll axis (xa axis) or the pitch axis (za axis) of the inclined surface measuring device 30A are formed. The course angle data Cd is obtained based on the reading data obtained from the scale attached to the inclined surface measuring device 30A and the dimension L in the direction of the measurement line L2 of the inclined surface measuring device 30A.

  Specifically, among the side surfaces of the inclined surface measuring device 30A provided on the installation surface M, the two side surfaces where the parallel line L1a and the measurement line L2 intersect are marked. The distances on both side surfaces of the parallel line L1a and the measurement line L2 are set as “deviation length a” and “deviation length b”, respectively, as shown in the figure, and these lengths are measured. On the other hand, a length L (represented by the length of one side of the inclined surface measuring device 30A in FIG. 5) parallel to the roll axis (xa axis) or the pitch axis (za axis) of the inclined surface measuring device 30A is measured in advance. Keep it. Then, by calculating tan (Cd) = (a + b) / L, the course angle Cd of the installation surface M with respect to the heading is directly obtained.

  Now, the unknown ship reference installation plane coordinates “xd, yd, zd”, the axis data Rg, Pg, Cg of the reference plane S, the axis data Ra, Pa of the installation plane M, and the angle setting means 13 Is calculated and calculated based on the course angle data Cd input from. Each coordinate system and the relational expression between them are the same as those shown in the first embodiment.

  In the second embodiment, the installation surface roll axis data Ra and the installation surface pitch axis data Pa are obtained, but the installation surface course axis data Ca cannot be obtained, and the course angle data Cd that is unknown in the first embodiment. Is inputted from the angle setting means 13, which is different from the first embodiment.

Under these conditions, the relationship between the matrices (A), (D), and (G) can be expressed in the same manner as in Equation (7), as shown in Equation (9).
(Cd) ⁻¹ (A) = (Pd) (Rd) (G) (9)

Therefore, the unknown coefficients Ca, Pd, and Rd are obtained from Equation (9) as follows.
sin (Rd) = (G11A12 ± ((G11A12) ^2- (G11G11 + G21G21) (A12A12-G21G21)) ^1/2 /
(G11G11 + A21A21) (10a)
tan (Pd) = ((G00C11-C01 (cosRdG11-sinRdG21)) /
(-A01G01-A11 (cosRdG11-sinRdG21)) (10b)
Ca = Cd + Cg (10c)

  From the above formula, in addition to the separately measured course angle data Cd, the parameters Pd and Rd of the respective axis components on the installation surface M are determined. Each parameter Pd, Rd, Cd on the installation surface M is substituted into the equation (4) to create a correction matrix Do, and this is substituted into the matrix D of the equation (1). The coordinates are shown correctly.

  Thus, in the second embodiment of the present invention, the main gyro apparatus 20 having the roll axis angle detector 22, the pitch axis angle detector 23, and the course axis angle detector 21 on the reference plane S of the ship 1 that is a moving body. And an inclined surface measuring device 30 including a secondary gyro device having a roll axis angle detector 32 and a pitch axis angle detector 33 on the installation surface M, and a measurement based on the bow stern line L1 of the ship 1 and the inclined surface measuring device. Angle setting means for measuring and setting the course angle data Cd formed by the line L2 is provided. Since the calculation processing is performed based on the axis data Cg, Rg, Pg, Ra, Pa and the course angle data Cd obtained from them, the coordinates of the predetermined plane M expressed by the coordinates of the reference plane S are obtained. The installation surface M on which the antenna 2 is installed can be measured accurately and promptly with respect to the reference surface S even in a state where the ship 1 is shaken. Further, the auxiliary gyro apparatus may have two axis angle detectors 32 and 33 of a roll axis and a pitch axis, and a course gyro for obtaining the course axis angle Ca is unnecessary. Since this course gyro is very expensive compared to a vertical gyro for obtaining a roll axis angle and a pitch axis angle, the measuring device can be configured at a low cost.

  In addition, since the course gyro takes a long time to stabilize its orientation (for example, 6 hours), the time required for measurement can be shortened by replacing the angle gyro with the angle measuring means.

  The course angle data Cd set by the angle setting means 13 uses the angle measuring device 35 provided on the installation surface M, or read data obtained from the scale attached to the inclined surface measuring device 30A and the inclined surface measuring device itself. Since it is easily obtained by using the dimension L, it can be configured at a very low cost.

  In addition, the inclined surface measuring device 30A including the sub-gyro device is removed after the calculation process for obtaining the coordinates of the installation surface M is performed, and therefore does not occupy a part of the installation surface. Moreover, it can be diverted for measurement of other ships.

Overview of a ship to which a predetermined surface measuring method and measuring system according to the present invention are applied 1 is a configuration diagram of a measurement method and a measurement system for a predetermined surface according to a first embodiment of the present invention. Configuration diagram of a measuring method and measuring system for a predetermined surface according to a second embodiment of the present invention The figure which shows the 1st angle measurement example which measures the course angle in 2nd Example. The figure which shows the 2nd angle measurement example which measures the course angle in 2nd Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Ship 2 Antenna 11 Calculator 12 Navigation data collector 13 Angle setting means 20 Main gyro device 21 Reference plane course axis angle detector 22 Reference plane roll axis angle detector 23 Reference plane pitch axis angle detector 30, 30A Inclined plane measuring instrument 31 Installation surface course axis angle detector 32 Installation surface roll axis angle detector 33 Installation surface pitch axis angle detector 35 Angle measuring device M Installation surface L1 Bow tail line L1a Line L2 parallel to the bow tail line Measurement line

Claims (12)

In a predetermined surface measurement method for measuring a surface at a predetermined position on a moving body (hereinafter referred to as a predetermined surface) with respect to a surface at a reference position of the moving body (hereinafter referred to as a reference surface),
By means of a main gyro device having a roll axis angle detector, a pitch axis angle detector and a coarse axis angle detector provided on the reference plane of the moving body, reference plane roll axis data, reference plane pitch axis data and reference on the reference plane Get the surface course axis data,
The predetermined surface roll axis data on the predetermined surface, the predetermined surface pitch axis by the inclined surface measuring device including the sub-gyro device provided on the predetermined surface and having a roll axis angle detector, a pitch axis angle detector, and a coarse axis angle detector. Data and predetermined surface course axis data,
Based on the reference surface roll axis data, the reference surface pitch axis data, the reference surface course axis data, the predetermined surface roll axis data, the predetermined surface pitch axis data, and the predetermined surface course axis data, the arithmetic processing is performed. A method for measuring a predetermined surface, wherein coordinates of the predetermined surface expressed in coordinates are obtained.   The calculation processing includes a first matrix including the predetermined surface roll axis data, the predetermined surface pitch axis data, and the predetermined surface course axis data, the reference surface roll axis data, the reference surface pitch axis data, and the reference surface course. The predetermined surface measurement method according to claim 1, wherein coordinates of the predetermined surface with respect to coordinates of the reference surface are obtained using a second matrix including axis data. In a predetermined surface measurement method for measuring the inclination of a predetermined surface on a moving body,
By means of a main gyro device having a roll axis angle detector, a pitch axis angle detector and a coarse axis angle detector provided on the reference plane of the moving body, reference plane roll axis data, reference plane pitch axis data and reference on the reference plane Get the surface course axis data,
The predetermined surface roll axis data and the predetermined surface pitch axis data on the predetermined surface are obtained by an inclined surface measuring device including a secondary gyro device provided on the predetermined surface and having a roll axis angle detector and a pitch axis angle detector,
Obtaining a course angle data formed by a center line connecting the front part and the rear part of the movable body or a parallel line parallel to the center line and a measurement line based on the inclined surface measuring instrument;
Based on these reference surface roll axis data, reference surface pitch axis data and reference surface course axis data, predetermined surface roll axis data and pitch axis data, and course angle data, arithmetic processing is performed and expressed in the coordinates of the reference surface. A method for measuring a predetermined surface, wherein coordinates of the predetermined surface are obtained.   The calculation processing includes the predetermined surface roll axis data, the predetermined surface pitch axis data, and the predetermined surface pitch axis data in a first matrix including the predetermined surface roll axis data, the predetermined surface pitch axis data, and the predetermined surface course axis data, and the reference surface. The coordinates of the predetermined surface with respect to the coordinates of the reference surface are obtained using a second matrix composed of roll axis data, the reference surface pitch axis data, and the reference surface course axis data, and the course angle data. The predetermined surface measuring method according to claim 3.   4. The predetermined surface measuring method according to claim 3, wherein the course angle data is obtained by an angle measuring device provided on the predetermined surface.   The said course angle data are calculated | required based on the reading data obtained from the scale attached | subjected to the said inclined surface measuring device, and the dimension of the direction of the said measurement line of the said inclined surface measuring device. Predetermined surface measurement method. In a predetermined surface measurement system that measures a predetermined surface provided at a predetermined location on a moving body with respect to a surface at a reference position of the moving body (hereinafter referred to as a reference surface),
A roll axis angle detector that is provided on the reference surface of the movable body and outputs reference surface roll axis data on the reference surface, a pitch axis angle detector that outputs reference surface pitch axis data, and a reference surface course axis data. A main gyro device having a course axis angle detector;
Roll axis angle detector provided on the predetermined surface and outputting predetermined surface roll axis data on the predetermined surface, pitch axis angle detector outputting predetermined surface pitch axis data, and course axis angle outputting predetermined surface coarse axis data An inclined surface measuring device including a secondary gyro device having a detector;
The reference surface roll axis data, the reference surface pitch axis data, the reference surface course axis data, the predetermined surface roll axis data, the predetermined surface pitch axis data, and the predetermined surface course axis data are collected, and based on each collected data An inclined plane measurement system comprising: a data collection calculation unit that performs calculation processing for obtaining coordinates of the predetermined plane expressed by coordinates of a reference plane.   The predetermined surface measurement system according to claim 7, wherein the inclined surface measuring device is removed after completion of the arithmetic processing.   The data collection calculation unit includes a first matrix including the predetermined surface roll axis data, the predetermined surface pitch axis data, and the predetermined surface course axis data, the reference surface roll axis data, the reference surface pitch axis data, and the reference The predetermined surface measurement system according to claim 7, wherein coordinates of the predetermined surface with respect to coordinates of the reference surface are obtained using a second matrix including surface course axis data. In a predetermined surface measurement system that measures a predetermined surface provided at a predetermined location on a moving body with respect to a surface at a reference position of the moving body (hereinafter referred to as a reference surface),
A roll axis angle detector provided on a reference position plane (hereinafter referred to as a reference plane) of the movable body for outputting reference plane roll axis data on the reference plane; a pitch axis angle detector for outputting reference plane pitch axis data; A main gyro apparatus having a course axis angle detector for outputting reference plane course axis data;
An inclined surface measuring device including a roll axis angle detector provided on the predetermined surface and outputting predetermined surface roll axis data on the predetermined surface and a sub-gyro device having a pitch axis angle detector outputting predetermined surface pitch axis data; ,
An angle setting means for setting course angle data formed by a center line connecting the front part and the rear part of the movable body or a parallel line parallel to the center line and a measurement line based on the inclined surface measuring device;
Based on these reference surface roll axis data, reference surface pitch axis data, reference surface course axis data, predetermined surface roll axis data, predetermined surface pitch axis data, and course angle data, arithmetic processing is performed, A predetermined surface measurement system, wherein coordinates of the predetermined surface expressed in coordinates are obtained.   11. The predetermined surface measurement system according to claim 10, wherein the inclined surface measuring device is removed after the arithmetic processing is completed.   The data collection calculation unit includes the predetermined surface roll axis data Ra and the predetermined surface pitch axis data in a first matrix composed of the predetermined surface roll axis data, the predetermined surface pitch axis data, and predetermined surface course axis data. Using the reference surface roll axis data, the reference surface pitch axis data, and the reference surface course axis data, and the course angle data to determine the coordinates of the predetermined surface with respect to the coordinates of the reference surface; The predetermined surface measurement system according to claim 10, wherein the predetermined surface measurement system is a feature.

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