CN102901518B - Ship-borne attitude and angle sensor detection method - Google Patents
Ship-borne attitude and angle sensor detection method Download PDFInfo
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- CN102901518B CN102901518B CN201210424803.0A CN201210424803A CN102901518B CN 102901518 B CN102901518 B CN 102901518B CN 201210424803 A CN201210424803 A CN 201210424803A CN 102901518 B CN102901518 B CN 102901518B
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- 238000001514 detection method Methods 0.000 title claims abstract description 28
- 238000012360 testing method Methods 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims abstract description 20
- 238000005259 measurement Methods 0.000 claims description 19
- 238000005096 rolling process Methods 0.000 claims description 16
- 230000003068 static effect Effects 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 238000002474 experimental method Methods 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 6
- 230000006641 stabilisation Effects 0.000 claims description 3
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- 238000010835 comparative analysis Methods 0.000 abstract 1
- 206010034719 Personality change Diseases 0.000 description 2
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Abstract
The invention discloses a ship-borne attitude and angle sensor detection method, wherein a detected instrument is placed on a detection device based on a ship-borne attitude and angle sensor detection device; according to requirements of detection flow and method, synchronous motion of the device and the detected instrument is realized through software of an upper computer of the detection device; and comparative analysis is performed on a testing parameter value and a detection instrument observation data value by using testing platform software to obtain a detection result and output a detection report. The ship-borne attitude and angle sensor detection method belongs to original research achievement and no related literatures are available.
Description
Technical field
The present invention relates to marine charting technical field, be specifically related to a kind of boat-carrying attitude and angle sensor detector methods.
Background technology
Oceanic sounding sonar is the requisite equipment in field such as hydrographic, oceanographic survey, national defense applications and research, along with ocean development and monitoring, scientific research of seas etc. develop rapidly, oceanic sounding sonar is widely applied and has played great function.But; owing to lacking laboratory gauge check method and checkout equipment; most of instrument cannot carry out specification and effectively examine and determine/calibrate; on-the-spot self-correcting or the way than survey can only be taked; and without unified standard; cause the reliability of observation data, accuracy and confidence level to be had a strong impact on, the data message obtained also exists very large hidden danger of quality.
Summary of the invention
The object of the present invention is to provide a kind of boat-carrying attitude and angle sensor detector methods, for detecting instrument, improve the reliability in its real work, accuracy and confidence level.
To achieve these goals, the technical solution of employing is in the present invention:
A kind of boat-carrying attitude and angle sensor detector methods, it comprises the following steps:
(1) start boat-carrying attitude and angular transducer pick-up unit, first mechanical compensation is carried out to it;
(2) compensation experiment is greater than 10 groups, first carries out rotating forward and compensates, each experiment X-axis, Y direction respectively parameters make it forward 5 degree to from-5 degree, each stepping 0.5 degree is set, records each actual stepping number of degrees value;
(3) utilize each actual stepping number of degrees value to obtain the mean value of the actual stepping in each position, mean value is deducted stepping parameters 0.5 degree, obtain the deviation of relevant position stepping;
(4) by the deviation compensation of each position to the stepping of current location, the error after compensation is less than 0.005 degree;
(5) carry out reversion according to step (2), (3) and (4) to compensate, each axle reversion forwards-5 degree to from 5 degree, and stepping parameters is similarly 0.5 degree, compensates the stepping that each axle operates;
(6) data fitting is carried out to rotating and reverse respectively, the relation function between the position at every turn forwarded to and offset;
(7) boat-carrying attitude and angular transducer are placed on Attitute detecting device also fixing, start instrument and pick-up unit, carry out the detection of precision of inner coincidence static stability: in test, the continuous on time must not be less than 2 hours, attitude is changed every 30 minutes, wherein attitude parameter comprises rolling, pitching, bow to (rolling, pitching and upper and lower heave are for attitude sensor with upper and lower heave, bow is to for optical fiber compass), to change after attitude in 10 minutes not record;
(8) every comparison in 15 minutes attitude measurement value, calculate attitude comparison poor, attitude comparison difference be with measured value first (attitude change after) for benchmark with measure difference below, the limit difference of attitude comparison difference should be measured within the scope of medial error at 2 times;
(9) calculate rolling, pitching, bow to upper and lower heave standard deviation;
(10) number that attitude comparison difference transfinites is recorded;
(11) precision of inner coincidence dynamically navigates by water detection: boat-carrying attitude and angular transducer to be placed on Attitute detecting device and fixing, starts instrument and pick-up unit;
(12) after treating 5 minutes stabilization time, programming start detection device upper computer software;
(13) control attitude range be transverse and longitudinal shake 1 °, up and down heave 10cm, bow to 1 °, and record data, sample frequency is 1Hz, and sampling duration is 5 minutes;
(14) record after data and wait for 5 minutes, change attitude range be transverse and longitudinal shake 3 °, up and down heave 25cm, bow to 3 °, and record data, sample frequency is 1Hz, and sampling duration is 5 minutes;
(15) wait for continue after 5 minutes to change attitude range be transverse and longitudinal shake 5 °, up and down heave 50cm, bow to 5 °, and record data, sample frequency is 1Hz, and sampling duration is 5 minutes;
(16) repeat above-mentioned (13), (14), (15) step respectively once, period can not close instrument;
(17) attitude comparison is calculated according to (8) poor, the number and Record Comparison difference transfinites;
(18) calculate attitude measurement rolling, pitching, bow to upper and lower heave standard deviation;
(19) precision of exterior coincidence static stability detects: testing process is according to precision of inner coincidence static stability detecting step (1), (7) and (8), wherein attitude contrast differences is for benchmark and attitude sensor measure difference with pick-up unit setting value, the limit difference of attitude contrast differences should within 2 times of measurement medial error, the number that record attitude contrast difference transfinites;
(20) attitude measurement rolling, pitching, bow is calculated to, heave standard deviation up and down;
(21) precision of exterior coincidence dynamically navigates by water detection: testing process dynamically navigates by water detecting step (6) to (12) according to precision of inner coincidence, wherein attitude contrast differences is for benchmark and attitude sensor measure difference with pick-up unit setting value, the limit difference of attitude contrast differences should within 2 times of measurement medial error, the number that record attitude contrast difference transfinites;
(22) attitude measurement rolling, pitching, bow is calculated to, heave standard deviation up and down;
Be more than the detailed implementation step of boat-carrying attitude and angle sensor detector methods, wherein in (9), (18) and (22) step, computing formula is:
In formula (1), λ
ibe the attitude observed reading of i-th time, n is for measuring sum, and i span is 1 ~ n,
for the arithmetic mean of attitude observed reading.
Beneficial effect of the present invention:
As conventional ocean measuring instrument, boat-carrying attitude and angular transducer have a very important role in marine charting work, but lack corresponding detection method to ensure reliability and the accuracy of instrument and equipment.Based on attitude sensor pick-up unit in this invention, propose the effective detection method of complete set, to detect the accuracy of boat-carrying attitude and angular transducer, ensure that the reliability of instrument, accuracy and confidence level, fill up the blank in this field, also for the detection of other ocean measuring instrument equipment provides reference.This invention is based on boat-carrying attitude and angular transducer pick-up unit, equipment placement will be detected on pick-up unit, according to testing process and method requirement, being synchronized with the movement of this device and detected instrument is realized by pick-up unit upper computer software, utilize test platform software to be analyzed test parameter value and detecting instrument observed data value, draw testing result and output detections report.Boat-carrying attitude in the present invention and angle sensor detector methods belong to original achievement in research, report without pertinent literature.
Embodiment
The detected instrument that the present invention adopts is the attitude sensor of the S-108 model that SMC company of Sweden produces, and concrete implementation step is as follows:
(1) start boat-carrying attitude and angular transducer pick-up unit, and mechanical compensation is carried out to it;
(2) compensation experiment must not be less than 10 groups, first carry out rotating forward to compensate, each experiment X-axis, Y direction respectively parameters make its from-5 degree forward 5 degree to, each stepping 0.5 degree is set, records each actual stepping number of degrees value (this numerical value can read from testing software);
(3) utilize each actual stepping number of degrees value to obtain the mean value of the actual stepping in each position, mean value is deducted stepping parameters 0.5 degree, obtain the deviation of relevant position stepping;
(4) compensate to the stepping of current location by the mean value of each position, the error after compensation is less than 0.005 degree.
(5) carry out reversion according to step (2), (3) and (4) to compensate, each axle reversion forwards-5 degree to from 5 degree, and stepping parameters is similarly 0.5 degree, compensates the stepping that each axle operates;
(6) data fitting is carried out to rotating and reverse respectively, the relation function between the position at every turn forwarded to and offset.
(7) will be detected instrument (boat-carrying attitude and angular transducer) is placed on Attitute detecting device also fixing, start instrument and pick-up unit, carry out the detection of precision of inner coincidence static stability: in test, the continuous on time must not be less than 2h, attitude is changed every 30 minutes, wherein attitude parameter comprises rolling, pitching and up and down heave, to change after attitude in 10 minutes not record;
(8) every comparison in 15 minutes attitude measurement value, calculate attitude comparison poor, attitude comparison difference be with measured value first (attitude change after) for benchmark with measure difference below, the limit difference of attitude comparison difference should be measured within the scope of medial error at 2 times;
(9) rolling, pitching and upper and lower heave standard deviation is calculated;
(10) number that attitude comparison difference transfinites is recorded.
(11) precision of inner coincidence dynamically navigates by water detection: to be placed in by S-108 attitude sensor on Attitute detecting device and fixing, starts attitude sensor;
(12) after spending 5 minutes stabilization time, programming start detection device upper computer software;
(13) controlling attitude range is that transverse and longitudinal shakes 1 °, upper and lower heave 10cm, and records data, and writing time is 5 minutes;
(14) wait for 5 minutes after recording data, changing attitude range is that transverse and longitudinal shakes 3 °, upper and lower heave 25cm, and records data, and writing time is 5 minutes;
(15) continuing after waiting for 5 minutes to change attitude range is that transverse and longitudinal shakes 5 °, upper and lower heave 50cm, and records data, and writing time is 5 minutes;
(16) repeat above-mentioned (13), (14), (15) step respectively once, period can not close instrument;
(17) attitude comparison is calculated according to (8) poor, the number and Record Comparison difference transfinites;
(18) attitude measurement (rolling, pitching, heave up and down) standard deviation is calculated;
(19) precision of exterior coincidence static stability detects: testing process is according to precision of inner coincidence static stability detecting step (1), (7) and (8), wherein attitude contrast differences is for benchmark and attitude sensor measure difference with pick-up unit setting value, the limit difference of attitude contrast differences should within 2 times of measurement medial error, the number that record attitude contrast difference transfinites;
(20) attitude measurement (rolling, pitching, heave up and down) standard deviation is calculated;
(21) precision of exterior coincidence dynamically navigates by water detection: testing process dynamically navigates by water detecting step (11) ~ (17) according to precision of inner coincidence, wherein attitude contrast differences is for benchmark and attitude sensor measure difference with pick-up unit setting value, the limit difference of attitude contrast differences should within 2 times of measurement medial error, the number that record attitude contrast difference transfinites;
(22) attitude measurement (rolling, pitching, heave up and down) standard deviation is calculated.
Be more than the detailed implementation step to S-108 attitude sensor detection method, wherein in (9), (18) and (22) step, computing formula is:
In formula (1), λ
ifor the attitude parameter measured at every turn, n is the number of measured parameter, and i scope is 1 ~ n,
for the arithmetic mean of attitude observed reading.
Example and discussion:
The accuracy of detection of the roll and pitch of attitude sensor pick-up unit is 0.001 degree, and the metrical error after compensation is 0.005 degree.
The static accuracy of the roll and pitch of S-108 model attitude sensor is 0.02 ° (RMS), the precision of upper and lower heave within the scope of ± 10m is 5cm or 5%, the static precision of inner coincidence testing standard deviation of the instrument drawn through above-mentioned testing process and precision of exterior coincidence testing standard deviation are all less than corresponding accuracy value, meet accuracy requirement.
The dynamic accuracy of the roll and pitch of S-108 model attitude sensor is 0.03 ° (RMS), upper and lower heave precision is 5cm or 5%, the instrument dynamic precision of inner coincidence testing standard deviation drawn through above-mentioned testing process and precision of exterior coincidence testing standard deviation are all less than corresponding accuracy value, meet accuracy requirement.
Claims (1)
1. boat-carrying attitude and an angle sensor detector methods, is characterized in that, comprises the following steps:
(1) start boat-carrying attitude and angular transducer pick-up unit, first mechanical compensation is carried out to it;
(2) compensation experiment is greater than 10 groups, first carries out rotating forward and compensates, each experiment X-axis, Y direction respectively parameters make it forward 5 degree to from-5 degree, each stepping 0.5 degree is set, records each actual stepping number of degrees value;
(3) utilize each actual stepping number of degrees value to obtain the mean value of the actual stepping in each position, mean value is deducted stepping parameters 0.5 degree, obtain the deviation of relevant position stepping;
(4) by the deviation compensation of each position to the stepping of current location, the error after compensation is less than 0.005 degree;
(5) carry out reversion according to step (2), (3) and (4) to compensate, each axle reversion forwards-5 degree to from 5 degree, and stepping parameters is similarly 0.5 degree, compensates the stepping that each axle operates;
(6) data fitting is carried out to rotating and reverse respectively, the relation function between the position at every turn forwarded to and offset;
(7) boat-carrying attitude and angular transducer are placed on Attitute detecting device also fixing, start instrument and pick-up unit, carry out the detection of precision of inner coincidence static stability: in test, the continuous on time must not be less than 2 hours, attitude is changed every 30 minutes, wherein attitude parameter comprise rolling, pitching, bow to upper and lower heave, to change after attitude in 10 minutes not record;
(8) every comparison in 15 minutes attitude measurement value, calculate attitude comparison poor, attitude comparison difference be with measured value first for benchmark with measure difference below, the limit difference of attitude comparison difference should within the scope of 2 times of measurement medial error;
(9) calculate rolling, pitching, bow to upper and lower heave standard deviation;
(10) number that attitude comparison difference transfinites is recorded;
(11) precision of inner coincidence dynamically navigates by water detection: boat-carrying attitude and angular transducer to be placed on Attitute detecting device and fixing, starts instrument and pick-up unit;
(12) after treating 5 minutes stabilization time, programming start detection device upper computer software;
(13) control attitude range be transverse and longitudinal shake 1 °, up and down heave 10cm, bow to 1 °, and record data, sample frequency is 1Hz, and sampling duration is 5 minutes;
(14) record after data and wait for 5 minutes, change attitude range be transverse and longitudinal shake 3 °, up and down heave 25cm, bow to 3 °, and record data, sample frequency is 1Hz, and sampling duration is 5 minutes;
(15) wait for continue after 5 minutes to change attitude range be transverse and longitudinal shake 5 °, up and down heave 50cm, bow to 5 °, and record data, sample frequency is 1Hz, and sampling duration is 5 minutes;
(16) repeat above-mentioned (13), (14), (15) step respectively once, period can not close instrument;
(17) attitude comparison is calculated according to (8) poor, the number and Record Comparison difference transfinites;
(18) calculate attitude measurement rolling, pitching, bow to upper and lower heave standard deviation;
(19) precision of exterior coincidence static stability detects: testing process is according to precision of inner coincidence static stability detecting step (1), (7) and (8), wherein attitude contrast differences is for benchmark and attitude sensor measure difference with pick-up unit setting value, the limit difference of attitude contrast differences should within 2 times of measurement medial error, the number that record attitude contrast difference transfinites;
(20) attitude measurement rolling, pitching, bow is calculated to, heave standard deviation up and down;
(21) precision of exterior coincidence dynamically navigates by water detection: testing process dynamically navigates by water detecting step (6) to (12) according to precision of inner coincidence, wherein attitude contrast differences is for benchmark and attitude sensor measure difference with pick-up unit setting value, the limit difference of attitude contrast differences should within 2 times of measurement medial error, the number that record attitude contrast difference transfinites;
(22) attitude measurement rolling, pitching, bow is calculated to, heave standard deviation up and down;
Be more than the detailed implementation step of boat-carrying attitude and angle sensor detector methods, wherein in (9), (18) and (22) step, computing formula is:
In formula (1), λ
ibe the attitude observed reading of i-th time, n is for measuring sum, and i span is 1 ~ n,
for the arithmetic mean of attitude observed reading.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210424803.0A CN102901518B (en) | 2012-10-31 | 2012-10-31 | Ship-borne attitude and angle sensor detection method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210424803.0A CN102901518B (en) | 2012-10-31 | 2012-10-31 | Ship-borne attitude and angle sensor detection method |
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| CN102901518B true CN102901518B (en) | 2015-07-15 |
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| CN105426121B (en) * | 2015-10-30 | 2018-01-16 | 山东科技大学 | Boat-carrying multisensor integrated measuring data real-time storage method |
| CN108592862B (en) * | 2018-05-10 | 2020-08-21 | 自然资源部第一海洋研究所 | AHRS installation deflection angle measuring method |
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| DE2634822C2 (en) * | 1976-08-03 | 1982-05-19 | Escher Wyss Gmbh, 7980 Ravensburg | Hydrostatic support device |
| TW404918B (en) * | 1999-05-27 | 2000-09-11 | United Ship Design Dev Ct | Hydrofoil and stern flap assembly mechanism for high speed dual-hull passenger boat |
| US6873406B1 (en) * | 2002-01-11 | 2005-03-29 | Opti-Logic Corporation | Tilt-compensated laser rangefinder |
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