CN102901478A - Device and method for measuring diving depth and heaving of near surface underwater vehicle - Google Patents
Device and method for measuring diving depth and heaving of near surface underwater vehicle Download PDFInfo
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- CN102901478A CN102901478A CN2012104370723A CN201210437072A CN102901478A CN 102901478 A CN102901478 A CN 102901478A CN 2012104370723 A CN2012104370723 A CN 2012104370723A CN 201210437072 A CN201210437072 A CN 201210437072A CN 102901478 A CN102901478 A CN 102901478A
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Abstract
The invention discloses a device and a method for measuring the diving depth and heaving of a near surface underwater vehicle. The device comprises an ultrasonic-wave measurement diving instrument, an attitude sensor, two liquid level sensors and a data processing unit, wherein the two liquid level sensors are positioned on an axis of the underwater vehicle and are respectively positioned at a head end and a tail end of the underwater vehicle for measuring the diving depths of the head end and the tail end of the underwater vehicle; the ultrasonic-wave measurement diving instrument is arranged in the middle of the near surface underwater vehicle for measuring the distance between the upper surface of the underwater vehicle and the water surface; the attitude sensor is arranged in a buoyant centre of the underwater vehicle for measuring a pitching angle and a vertical speed of the underwater vehicle; and the data processing unit is arranged in a control capsule of the underwater vehicle for acquiring and processing measurement data of the attitude sensor, the two liquid level sensors and the ultrasonic-wave measurement diving instrument in real time. According to the method, data of the diving depth and the heaving are modified and compensated by using the liquid level sensors which serve as a main element, the ultrasonic-wave measurement diving instrument which serves as a secondary element and the attitude sensor, so that the real diving depth and heaving of the underwater vehicle in a complex environment are precisely measured.
Description
Technical field
Invention relates to latent dark and vertical measurement mechanism and the method for swinging of a kind of nearly navigation unit by water.
Background technology
Nearly water surface depth survey and wave disturb treatment technology to become technological difficulties, adopts pressure sensor is measured diving of aircraft has good effect in deepwater field deeply, in case in more shallow waters (the near water surface), pressure transducer enters into the dead band state, be easy to cause the distortion of measurement data, the impact of wave under the simultaneously nearly high sea situation of the water surface, caused by a relatively large margin the variation of having of measurement data, process for the control system of back and to have brought trouble, general depth measurement method is to carry out digital filtering by artificial experience to process on the basis of original depth data, and its algorithm is only suitable for the processing in regular wave.
Except being undertaken the depth survey by pressure transducer, can also adopt the acoustic measurement mode on the engineering, with respect to pressure transducer, velocity variations causes that the variation meeting of aircraft sea-keeping produces a dynamic pressure to pressure transducer and disturbs, and the latent instrument of ultrasound can adapt to the variation of aircraft speed, but measuring, acoustically in the hydrostatic territory good effect is arranged, and when running into wave and disturbing, the nearly water surface in ocean can produce more bubble, can cause very large interference to acoustic equipment, cause the distortion of measurement data.
Summary of the invention
In view of this, the invention provides latent dark and vertical measurement mechanism and the method for swinging of a kind of nearly navigation unit by water, this device is in conjunction with the advantage of liquid level sensor and the latent instrument of ultrasound, take liquid level sensor as main, the latent instrument of ultrasound is auxiliary, wave is carried out pre-estimation and processing, and the attitude sensor of the nearly navigation unit by water of combination is realized the latent dark and vertical measurement of swinging of nearly navigation unit by water to further correction and the compensation of both data simultaneously.
Nearly navigation unit by water of the present invention is dived dark and is hung down and swings measuring method adopt liquid level sensor, attitude sensor and ultrasound to dive mode that instrument combines and nearly navigation unit by water is dived dark and hung down to swinging measure; Described two liquid level sensors are arranged in stem and the afterbody of nearly navigation unit by water; The latent instrument of described ultrasound is arranged in the centre position of nearly navigation unit by water; Described attitude sensor is arranged in the position, centre of buoyancy of nearly navigation unit by water.
Concrete measuring process is:
Step 1: attitude sensor, two liquid level sensors and ultrasound are dived after instrument receives the data acquisition instruction of data processing unit, and measurement data is sent to data processing unit in real time; And attitude sensor is identical with the output frequency of two liquid level sensors, all greater than the dive output frequency of instrument of ultrasound;
Step 2: after the measurement data of the latent instrument of ultrasound of the every reception of data processing unit, other four groups of data that front and back two have received are constantly carried out pre-service; Obtain respectively the latent dark valid data H1 of nearly navigation unit by water stem, the latent dark valid data H2 of nearly navigation unit by water afterbody, closely navigation unit by water angle of pitch α and closely the vertical velocity v of navigation unit by water;
Step 3: data processing unit by pretreated data to external world marine environment judge
301: data processing unit calculates the nearly navigation unit by water head and the tail latent dark actual deviation Δ H=H1-H2 in two ends;
302: the nearly navigation unit by water head and the tail two ends dark desirable deviation of diving was not carried out the PH contrast when data processing unit had wave with the actual deviation Δ H that calculates and sea, described PH=L * sin α, and wherein L is the length of nearly navigation unit by water;
If (Δ H-PH)/PH, thinks tentatively then that wave is arranged greater than 1/3, enter step 304; Otherwise tentatively thinking does not have wave, directly enters step 402;
304: further be confirmed whether wave by the latent instrument of ultrasound:
Data processing unit is confirmed whether wave according to the output of the latent instrument of the current time ultrasound that collects: the current output distortion of instrument if ultrasound is dived proves that then aircraft just meets with wave, enters step 4; The instrument output valid data H3 if ultrasound is dived, then proof does not have wave, directly enters step 402.
Step 4: Data Fusion
401: judge the position of nearly navigation unit by water in wave by pretreated vertical velocity v:
If the absolute value of vertical velocity v is less than setting value, then the true dark H that dives of nearly navigation unit by water is:
Wherein Δ H3 is the constantly variable quantities of the latent instrument of ultrasound of front and back two;
If the absolute value of vertical velocity v is more than or equal to setting value, then true the diving of nearly navigation unit by water for H is deeply:
Wherein t is the time of latent twice output gap of instrument of ultrasound; L is the length of nearly navigation unit by water;
402. the true dark H that dives of nearly navigation unit by water is:
The vertical value of swinging of described nearly navigation unit by water is the latent dark difference of front and back two constantly nearly navigation unit by water.
Pretreated four groups of data are respectively the nearly navigation unit by water angle of pitch, the vertical velocity that attitude sensor is measured in the described step 2; Diving of the nearly navigation unit by water stem of two groups of liquid level sensor measurements and afterbody is dark;
Preprocessing process is:
201: remove maximal value and minimum value after data processing unit is arranged sequentially by size with every group of data;
202: data processing unit is learnt from else's experience the intermediate value of the remaining data of step 201 after processing as preprocessed data.
Carry out the latent dark and vertical device that swings measurement of nearly navigation unit by water based on the method for stating and comprise two liquid level sensors, attitude sensor, the latent instrument of ultrasound and data processing unit; Described two liquid level sensors are arranged in the head and the tail of nearly navigation unit by water, are used for measuring diving deeply of nearly navigation unit by water head and the tail two ends; The latent instrument of described ultrasound is arranged in the centre position of nearly navigation unit by water, is used for measuring the distance of nearly navigation unit by water upper surface and the water surface; Described attitude sensor is arranged in the position, centre of buoyancy of nearly navigation unit by water, is used for measuring the angle of pitch and the vertical velocity of nearly navigation unit by water.The described control cabinet that is positioned at nearly navigation unit by water gathers the also measurement data of the latent instrument of processing pressure sensor, attitude sensor and ultrasound.
Described attitude sensor is comprised of gyroscope and turn meter.
Beneficial effect:
(1) since the duty of nearly navigation unit by water be divided under water and water surface two states, very easily be subject to the impact that wave disturbs in its nearly water surface depth survey process, the present invention carries out first the preliminary surveying of the degree of depth with liquid level sensor, then utilize the latent instrument of ultrasound to remedy the dead band of liquid level sensor, the recycling attitude sensor is calibrated and compensation of undulation depth survey pitching and the vertical speed of sail body, and then realizes the latent dark and vertical Measurement accuracy that swings of nearly navigation unit by water.
(2) in this system ultrasonic sensor is arranged in the medium position of nearly navigation unit by water, to reduce sail body pitching and roll passage to the impact of its measurement, the acoustics frequency of its selection has been avoided the frequency of operation of nearly other underwater sound equipment of the water surface, and other acoustic signals are carried out filtering process, can judge accurately the wave interference strength when the true and validity by Monitoring Data like this.
Description of drawings
Fig. 1 is the schematic diagram of device that the present invention adopts.
Embodiment
Below in conjunction with the accompanying drawing embodiment that develops simultaneously, describe the present invention.
Present embodiment provides a kind of nearly navigation unit by water to dive deeply and vertical measurement mechanism and the method for swinging, the method combination multiple sensors, and the several data of measuring carried out fusion treatment, wave is analyzed judgement, thus true dive dark and vertical swing of the nearly navigation unit by water of Measurement accuracy under high sea situation and complex environment.
This measurement mechanism comprises ultrasound dive instrument, attitude sensor, two liquid level sensors and data processing unit.
Wherein two liquid level sensors are positioned on the axis of nearly navigation unit by water, and lay respectively at stem and afterbody at nearly navigation unit by water.Two liquid level sensors are respectively applied to measure diving deeply of aircraft head and the tail two ends.
The ultrasound instrument of diving is arranged in the centre position of nearly navigation unit by water, when reducing aircraft pitching and roll on the impact of its measurement result.Ultrasound is dived instrument for the distance of measuring between nearly navigation unit by water upper surface and the water surface, thereby has been confirmed whether wave.The latent instrument of ultrasound adopts the acoustic measurement method, its principle of work is: launch the certain frequency acoustical signal and reflect behind the water surface again outside nearly navigation unit by water housing, when in case wave agitation formation cavity occurring, therefore its measuring-signal meeting distortion is easy to differentiate aircraft from the latent instrument DATA REASONING data of ultrasound and whether meets with wave.The acoustics frequency that the latent instrument of ultrasound is selected should be avoided the frequency of operation of nearly other underwater sound equipment of the water surface, and other acoustic signals are carried out filtering process, (wave is larger guaranteeing measurement data can accurately to judge the interference strength of wave in authentic and valid like this, the air bubble of its seawater surface is more, and ultrasound is dived the mistake of instrument, and to catch rate higher).
Attitude sensor is arranged in the position, centre of buoyancy of nearly navigation unit by water.Attitude sensor in the present embodiment is comprised of gyroscope and turn meter, is used for measuring the angle of pitch and the vertical velocity of nearly navigation unit by water.
Data processing unit is positioned at the control cabinet of nearly navigation unit by water, the measurement data of the latent instrument of data processing unit collection and processing pressure sensor, attitude sensor and ultrasound.
The employing said apparatus is dived dark to nearly navigation unit by water and the measuring method of swinging of hanging down is:
Step 1: attitude sensor, two liquid level sensors and ultrasound are dived after instrument receives the data acquisition instruction of data processing unit, and measurement data is sent to data processing unit in real time; And attitude sensor is identical with the output frequency of two liquid level sensors, all greater than the dive output frequency of instrument of ultrasound.
Step 2: ultrasound of the every reception of data processing unit is dived after the measurement data of instrument, and the attitude sensor that front and back two have been collected constantly, four groups of data of two liquid level sensors are carried out pre-service; Described pretreated data comprise the aircraft angle of pitch, the vertical velocity that attitude sensor is measured; Diving of the aircraft head and the tail two ends of two groups of liquid level sensor measurements is dark;
Preprocessing process is:
201: data processing unit removes minimum and maximum value with above-mentioned 4 groups of data according to bubble sort: be about to every group of data and remove maximal value and minimum value after arranged sequentially by size;
202: data processing unit utilizes the median digital filtering to obtain preprocessed data: the intermediate value of the remaining data after the step 201 of namely learning from else's experience is processed, obtain 4 primary datas, be respectively the latent dark valid data H1 of aircraft stem, the latent dark valid data H2 of afterbody, aircraft angle of pitch α, the vertical velocity v of aircraft.
Step 3: data processing unit by pretreated data to external world marine environment judge
301: data processing unit calculates the latent dark actual deviation Δ H in aircraft head and the tail two ends: Δ H==H1-H2;
302: the latent dark desirable deviation PH in aircraft head and the tail two ends did not compare when the actual deviation Δ H that data processing unit is latent dark with the aircraft head and the tail two ends that calculate and sea had wave, described PH=L * sin α, and wherein L is the length of aircraft; If (Δ H-PH)/PH, thinks tentatively then that wave is arranged greater than 1/3, enter step 304; Otherwise tentatively thinking does not have wave, directly enters step 402;
304: further be confirmed whether wave by the latent instrument of ultrasound:
Data processing unit is confirmed whether wave according to the output of the latent instrument of the current time ultrasound that collects: the current output distortion of instrument if ultrasound is dived proves that then aircraft just meets with wave, enters step 4; The instrument output valid data H3 if ultrasound is dived, then proof does not have wave, directly enters step 402.
Step 4: Data Fusion, calculate the true of aircraft and dive deeply
401: judge the position of aircraft in wave by pretreated vertical velocity v:
If (vertical velocity is 0 to the absolute value of the vertical velocity v of aircraft during the nothing wave, when aircraft makes progress vertical velocity on the occasion of, vertical velocity was negative value when aircraft was downward) less than setting value, then explanation this moment, wave was less, the dark variation not quite of diving of aircraft, this moment, the true dark H that dives of aircraft was:
Δ H3 is the variable quantity of the constantly latent instrument output of ultrasound of front and back two in the formula; (the ultrasound data volume that instrument catches in the situation in mistake of diving has certain error, so the difference of twice measured value is exactly for cancellation error deviation amount before and after getting)
If the absolute value of the vertical velocity v of aircraft, illustrates then that the aircraft measurement data not only is subject to the impact of wave more than or equal to setting value, also be subject to the impact of aircraft attitude data, this moment, the true dark H that dives was:
In the formula: t is the time of latent twice output gap of instrument of ultrasound.
402. the true dark H that dives of nearly navigation unit by water is:
Hang down and to swing value and be the front and back two nearly navigation unit by water constantly dark difference of diving, by said method obtain different constantly nearly navigation unit by water true dive dark after, adopting the depth value of current time to deduct the depth value in a moment is exactly the vertical value of swinging of nearly navigation unit by water.
In sum, more than be preferred embodiment of the present invention only, be not for limiting protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. a nearly navigation unit by water is dived dark and is hung down and swings measuring method, it is characterized in that, the method adopt liquid level sensor, attitude sensor and ultrasound to dive mode that instrument combines is dived dark and hung down to swinging nearly navigation unit by water and measures; Described two liquid level sensors are arranged in stem and the afterbody of nearly navigation unit by water; The latent instrument of described ultrasound is arranged in the centre position of nearly navigation unit by water; Described attitude sensor is arranged in the position, centre of buoyancy of nearly navigation unit by water;
Concrete measuring process is:
Step 1: attitude sensor, two liquid level sensors and ultrasound are dived after instrument receives the data acquisition instruction of data processing unit, and measurement data is sent to data processing unit in real time; And attitude sensor is identical with the output frequency of two liquid level sensors, all greater than the dive output frequency of instrument of ultrasound;
Step 2: after the measurement data of the latent instrument of ultrasound of the every reception of data processing unit, other four groups of data that front and back two have received are constantly carried out pre-service; Obtain respectively the latent dark valid data H1 of nearly navigation unit by water stem, the latent dark valid data H2 of nearly navigation unit by water afterbody, closely navigation unit by water angle of pitch α and closely the vertical velocity v of navigation unit by water;
Step 3: data processing unit by pretreated data to external world marine environment judge
301: data processing unit calculates the nearly navigation unit by water head and the tail latent dark actual deviation Δ H=H1-H2 in two ends;
302: the nearly navigation unit by water head and the tail two ends dark desirable deviation of diving was not carried out the PH contrast when data processing unit had wave with the actual deviation Δ H that calculates and sea, described PH=L * sin α, and wherein L is the length of nearly navigation unit by water;
If (Δ H-PH)/PH, thinks tentatively then that wave is arranged greater than 1/3, enter step 304; Otherwise tentatively thinking does not have wave, directly enters step 402;
304: further be confirmed whether wave by the latent instrument of ultrasound:
Data processing unit is confirmed whether wave according to the output of the latent instrument of the current time ultrasound that collects: the current output distortion of instrument if ultrasound is dived proves that then aircraft just meets with wave, enters step 4; The instrument output valid data H3 if ultrasound is dived, then proof does not have wave, directly enters step 402.
Step 4: Data Fusion
401: judge the position of nearly navigation unit by water in wave by pretreated vertical velocity v:
If the absolute value of vertical velocity v is less than setting value, then the true dark H that dives of nearly navigation unit by water is:
Wherein Δ H3 is the constantly variable quantities of the latent instrument of ultrasound of front and back two;
If the absolute value of vertical velocity v is more than or equal to setting value, then true the diving of nearly navigation unit by water for H is deeply:
Wherein t is the time of latent twice output gap of instrument of ultrasound, and L is the length of nearly navigation unit by water;
402. the true dark H that dives of nearly navigation unit by water is:
The vertical value of swinging of described nearly navigation unit by water is the latent dark difference of front and back two constantly nearly navigation unit by water.
2. a kind of nearly navigation unit by water as claimed in claim 1 is dived dark and is hung down and swings measuring method, it is characterized in that pretreated four groups of data are respectively the nearly navigation unit by water angle of pitch, the vertical velocity that attitude sensor is measured in the described step 2; Diving of the nearly navigation unit by water stem of two groups of liquid level sensor measurements and afterbody is dark;
Preprocessing process is:
201: remove maximal value and minimum value after data processing unit is arranged sequentially by size with every group of data;
202: data processing unit is learnt from else's experience the intermediate value of the remaining data of step 201 after processing as preprocessed data.
3. a nearly navigation unit by water is dived dark and is hung down and swings measurement mechanism, it is characterized in that, comprises two liquid level sensors, attitude sensor, the latent instrument of ultrasound and data processing unit; Described two liquid level sensors are arranged in the head and the tail of nearly navigation unit by water, are used for measuring diving deeply of nearly navigation unit by water head and the tail two ends; The latent instrument of described ultrasound is arranged in the centre position of nearly navigation unit by water, is used for measuring the distance of nearly navigation unit by water upper surface and the water surface; Described attitude sensor is arranged in the position, centre of buoyancy of nearly navigation unit by water, is used for measuring the angle of pitch and the vertical velocity of nearly navigation unit by water; Described data processing unit is positioned at the control cabinet of nearly navigation unit by water, gathers the also measurement data of the latent instrument of processing pressure sensor, attitude sensor and ultrasound.
4. a kind of nearly navigation unit by water as claimed in claim 3 is dived dark and is hung down and swings measurement mechanism, it is characterized in that described attitude sensor is comprised of gyroscope and turn meter.
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Application publication date: 20130130 |