CN112829891A - High-precision ship draught real-time measuring system based on inertial sensing technology - Google Patents
High-precision ship draught real-time measuring system based on inertial sensing technology Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
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Abstract
The invention relates to a high-precision real-time measuring system for ship draught based on an inertial sensing technology, which comprises a radar range finder terminal and an upper computer, the radar range finder terminal comprises a holder, an inertial sensor, a radar range sensor, a single chip microcomputer, a wireless signal module and a driving device, the driving device supplies power, the inertial sensor and the radar ranging sensor are both fixedly arranged on the holder, the inertial sensor and the radar ranging sensor respectively transmit attitude data and ranging data to the single chip microcomputer, the single chip microcomputer controls a lens steering device of the tripod head to correct and level the tripod head through attitude data feedback instructions, data of a radar range finder terminal are uploaded to an upper computer through a wireless signal module and a wireless self-organizing network, and the upper computer is used for receiving the data of the radar ranging terminal, integrating the data and processing the data to obtain a draught result. The invention can reduce the occurrence of the condition of less loading/more unloading of goods in the operation process of the ship and is beneficial to improving the safety of ship navigation.
Description
Technical Field
The invention relates to the technical field of ship draft measurement, in particular to a high-precision ship draft real-time measurement system based on an inertial sensing technology.
Background
Nowadays, the navigation industry is developed at a rapid pace by virtue of the advantages of large transportation volume, low cost, convenient transportation and the like, and the pace is accelerated for the development of economy in China. The draught of the ship is taken as an important parameter, the displacement of the ship can be calculated, and the draught of the ship is almost completely determined by a manual visual inspection method at present. However, the method has a plurality of defects, the accuracy and the reliability of the visual observation are obviously changed by objective conditions such as weather, the real-time updating of the measurement data cannot be realized, and the difficulty of measuring the draught of the ship is increased when the ship meets severe weather. Personal experience also has a significant impact on the measurement results. And accidents caused by the illegal phenomenon of 'over draft' of the ship are increased day by day, so that the vigorous development of the shipping industry is influenced, the safety of the ship is seriously threatened, and the accurate measurement of the draft of the ship is urgently needed.
The traditional measuring method for measuring the draft of the ship at present:
(1) method of artificial observation
The method comprises a water gauge observation method and a traffic boat observation method around a ship. The actual draft value of the ship is finally obtained by observing and recording ship water gauge marks of six sides of the bow, the middle and the left and right sides of the stern of the ship manually. The method requires that a ship berthing or an observer take a working boat to observe the target ship. The ship is in a dynamic environment, and the water gauge mark is corroded all the year round, so that a plurality of observers are required to simultaneously measure and record for a long time to avoid personal subjectivity errors, and later numerical value correction is not facilitated. Under extreme environment, the life safety of observers is threatened
i. Water gauge observation method
When the waterline reaches the lower edge of a certain number on the water gauge mark, the actual draught at the position is represented as a numerical value represented by the number; if the waterline just submerges the number, the actual draught at the position is represented by the numerical value represented by the number plus the corresponding word height; when the waterline is located at the half of the word height, the actual draught at the position is represented by the numerical value represented by the number plus the half of the corresponding word height. When the water surface fluctuates, the position of the actual waterline is determined according to the average value obtained by a plurality of observations.
Observing traffic boat around ship
For the non-berthing side, the traffic boat is lowered from the ship and observed around the ship.
(2) The ultrasonic measurement method measures the distance from the ultrasonic probe to the water surface by utilizing the characteristics of good directivity, penetrating power and the like of sound waves so as to obtain the ship draught value. The measurement accuracy is mainly affected by the sound velocity error, that is, the current environment (air density, temperature, humidity, etc.) in which the sensor is located directly affects the measurement accuracy, and error compensation is required according to different application environments.
(3) Laser sensor measuring method
The principle of the laser sensor measuring method is similar to that of an ultrasonic measuring method, and the distance from a laser probe to the water surface is measured by utilizing the characteristics of constant light speed, good directivity and the like, so that the draught value of the ship is obtained.
(4) Pressure sensor measurement method
The pressure sensor measuring method utilizes the change of draft generated when a ship is unloaded and loaded to cause the change of water pressure, so that the pressure value of the pressure sensor is changed, and the ship draft value is obtained through a conversion formula. However, the time drift phenomenon caused by long-term pressure application and the difference of water density directly cause the difference of pressure values, so that measurement errors are generated, and error compensation is required according to different application environments.
(5) Sonar measuring method
The sonar measurement method utilizes the characteristics of ultrasonic waves such as attenuation in water to measure the draft of the ship in an array form under water. The panda land of university of maritime affairs realizes the measurement of the draught of the ship by utilizing a sonar array. However, the method needs to be separated from the ship body, and equipment is arranged in a designated measuring area, so that the flexibility is low and the manufacturing cost is high.
(6) Electronic water gauge measuring method
The electronic water gauge measuring method utilizes the characteristics of water conductivity and the like, pulse signals are sequentially scanned downwards from the top of the electronic water gauge, scanning is stopped when electrode contacts with the water surface and the like are scanned, the number of the electrode contacts is obtained, and the ship draught value is obtained through a conversion formula. The electronic water gauge is used by grandson nationality of Shanghai maritime university and the like to realize the measurement of the draught depth of the ship.
(7) Image processing and measuring method
The image processing and measuring method mainly comprises the steps of sampling a water gauge mark image through an image acquisition device, and identifying through an algorithm to obtain a ship draught value. The image processing and analyzing method of the ship waterline mainly applies methods such as template matching and Canny operator. However, as the ship draft gauge mark is exposed and corroded all the year round, the acquired image is not clear enough and has more impurities, so that the level of practical application is difficult to achieve.
(8) Radar measuring method
The radar measurement method obtains the draught value of the ship by measuring the distance from a radar probe to the water surface.
Nowadays, radars are widely used in the field of high-precision level/level gauges. However, in the field of ship draft measurement, only a few relevant documents describe the research application of the radar in the field.
Problems arising from draft measurement for various ships:
at present, various ship draught measurement systems have main problems including:
(1) safety problems are as follows: if the survey is carried out overboard, personal safety is threatened. Without detecting the outboard, only rough estimation can be carried out, and accurate data cannot be obtained. There were captain who inadvertently dropped into the water by looking at the draft of the vessel. In severe weather, the crew is forced to remove the board and observe the draught of the ship, and the mode has great potential safety hazard. Manual measurement is labor-intensive and cannot be measured in water for a long time.
(2) The accuracy problem is as follows: due to the influence of weather, water mist, water wave interference and the like, the accuracy of ship draft data is difficult to guarantee by numerical values obtained by naked eyes. And the difference in personal experience has a more significant effect on the measurement results. For pressure sensor measurements. The time drift phenomenon generated by pressure application and the difference of water density directly cause the difference of pressure values, so that measurement errors are generated, and error compensation is required according to different application environments.
(3) The data synchronization problem is as follows: the traditional manual measurement mode can only obtain the draught during measurement. And when the ship continuously sails on the water surface, the draught cannot be calculated. The desire to obtain real-time data has become a difficulty.
(4) The practical application problem is difficult: and measuring the draught for image processing. The ship draught mark is exposed and corroded all the year round, and the acquired image is not clear enough and has more impurities, so that the ship draught mark is difficult to reach the level of practical application.
In summary, the basic principle of automatic measurement methods such as radar measurement and laser measurement is to calculate the distance from a sensor to the water surface by measuring the round trip time of a signal between the sensor and the water surface, and then calculate the draught of a ship according to the installation position of the sensor and a ship type value table. When the ship is floating, various measuring sensors can be ensured to be vertical to the water surface, and the measuring precision of the system is higher at the moment.
However, when the ship has a large pitch angle or a large roll angle, each sensor cannot be guaranteed to be perpendicular to the water surface, and signals are difficult to transmit back to the sensor through the water surface, as shown in fig. 1, the measurement accuracy is greatly reduced, and even the draught value of the ship cannot be obtained. Thus, almost all automated measurement methods require that the sensor remain perpendicular to the vessel water plane.
In order to ensure that the sensor is perpendicular to the water line surface, the chenweir of the Chinese ship science research center installs a leveling bolt and a level meter at a measuring terminal, and manually adjusts the bolt when measuring the draught, so that the sensor is perpendicular to the water line surface. Although the method can ensure that the sensor is vertical to the waterline surface when measuring draught, the manual leveling is needed for each measurement, which not only wastes time and labor, but also has poor real-time performance of the measurement result and can not ensure the leveling precision.
Disclosure of Invention
To the not enough of above-mentioned prior art, the technical problem that this patent application will solve provides the high accuracy boats and ships draught real-time measurement system based on inertial sensing technique that improves and measures security, convenience and accuracy.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a high accuracy boats and ships draft real-time measurement system based on inertia sensing technology, includes radar range finder terminal and host computer, radar range finder terminal includes cloud platform, inertial sensor, radar ranging sensor, singlechip, radio signal module and drive arrangement, drive arrangement supplies power, the equal fixed mounting of inertial sensor and radar ranging sensor is in on the cloud platform, inertial sensor and radar ranging sensor transmit attitude data and range finding data to the singlechip respectively, and the singlechip revises the leveling cloud platform through the camera lens steering device of attitude data feedback command control cloud platform, and the data at radar range finder terminal passes through radio signal module and wireless self-organizing network and uploads for the host computer, and the host computer is used for receiving radar ranging terminal's data and carries out data integration and processing and obtains the draft result.
The number of the radar sensor terminals is 6, and the radar sensor terminals are respectively used for being arranged on two opposite sides of the bow, the middle and the stern of the draught measurement marking line of the ship.
Wherein, the outside of radar range finder terminal is from installing the buckler.
Wherein the driving device is a battery.
Wherein the battery is a solar battery or a rechargeable battery.
The radar range finder terminal is connected with the ship through a magnet.
A high-precision ship draught real-time measuring system based on an inertial sensing technology comprises the following steps:
s1: initializing a draft measurement terminal;
s2: the system self-detection detects whether the operation of each plate has a fault, and if the operation of each plate has the fault, the system is repaired or an alarm is given; if no fault exists, the next step is carried out;
s3: measuring the attitude of a cradle head through an inertial sensor, sending a control command to level the cradle head according to cradle head attitude data, and calculating the draught of a ship according to a ship type value table through the distance from a radar liquid level meter to a water plane; sending the draught of the ship and the posture of the holder to an upper computer;
s4: and (4) determining whether the upper computer receives the ending instruction, if not, returning to the step S3 to continue the measurement, and if so, ending the measurement and draught.
The inertial sensor comprises an acceleration sensor, an angular velocity sensor, an inertial measurement unit and a magnetic sensor attitude reference system;
when the inertial sensor is used:
rotating the Z axis:
coordinate before rotation (X)0,Y0,Z0) After rotation of the coordinate (X)1,Y1,Z1)
Calculating a matrix:
wherein the content of the first and second substances,
rotating the Y axis:
coordinate before rotation (X)1,Y1,Z1) After rotation of the coordinate (X)2,Y2,Z2)
Calculating a matrix:
wherein the content of the first and second substances,
rotating the X axis:
coordinate before rotation (X)2,Y2,Z2) After rotation of the coordinate (X)3,Y3,Z3)
Calculating a matrix:
wherein the content of the first and second substances,
wherein the time difference t from reflection to reception of the radar ranging sensor is proportional to the distance L between the antenna and the object, and the following formula is adopted
L＝ct/2
Wherein c represents the transmission speed of the electromagnetic wave and is a constant value; t is the time difference from reflection to acceptance;
the height of the antenna of the sensor is set as H0Height H of the reflecting surface0-L＝H0-ct/2; if the antenna of the radar ranging sensor faces the wharf water surface to emit pulse waves, the H value is the water level value to be measured;
error calculation
U0.95＝2Sg
Wherein the content of the first and second substances,
in the formula, SgIs the statistical standard deviation; xiIs the radar level (m),
the mean value (m) of the water level values was observed manually.
Wherein the radar ranging sensor is an Enlai radar liquid level meter.
The invention has the following beneficial effects:
1. the attitude of each sensor is measured in real time by adopting an inertial sensor, the attitude data is processed and analyzed by the singlechip, the control data is sent to a holder where the sensor is located, the attitude of the sensor is adjusted in real time, the sensor is always perpendicular to a water line plane, and the accuracy and the real-time performance of the draft measurement of the ship are improved. Simultaneously, each draft measurement terminal's measurement result all sends for the host computer through wireless ad hoc network, and when draft measurement terminal was far away from the host computer distance, the draft measurement result was retransmitted to other terminals of accessible. And the upper computer receives the draft results of the terminals and obtains the equal-volume draft of the ship through data processing.
2. Can provide the boats and ships draft for the navigating mate of boats and ships automatically, be favorable to reducing the security risk of crewman when measuring the draft.
3. The inertial sensor is adopted to measure the attitude of the distance measuring sensor, and the attitude of the distance measuring sensor is adjusted in real time through the cradle head, so that the distance measuring sensor is always vertical to the water surface, and the accuracy of ship draft measurement is improved.
4. The wireless self-organizing network is used for data transmission between the draft measurement terminal and the upper computer, and if the distance between the draft measurement terminal and the upper computer is long, data relay forwarding can be carried out through other terminals.
5. Due to the influence of waves and sensor noise, the random error of the ship draft measurement result is large. In order to improve the draft measurement result, the draft measurement result of the ship is processed by adopting a Kalman filtering method, so that the method is favorable for reducing the error of the draft measurement result of the ship.
6. The installation adopts the mode installation of magnet, and the installation is simpler, and artifical quick detachable maintains very conveniently.
7. The cost is low.
In conclusion, the invention can reduce the occurrence of the condition of less loading/unloading of goods during the operation of the ship and is beneficial to improving the safety of the navigation of the ship.
Drawings
Fig. 1 is a schematic view of the overall structure of a high-precision real-time ship draft measurement system based on an inertial sensing technology.
Fig. 2 is an installation schematic diagram of a high-precision ship draft real-time measurement system based on an inertial sensing technology.
Fig. 3 is a schematic terminal diagram of a high-precision real-time ship draft measurement system based on an inertial sensing technology.
Fig. 4 is a working flow chart of the high-precision real-time ship draft measuring system based on the inertial sensing technology.
FIG. 5 is an attitude coordinate axis of a high-precision ship draft real-time measurement system based on an inertial sensing technology.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "upper, lower" and "top, bottom" etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
As shown in figures 1-5, a high-precision real-time measuring system for ship draught based on inertial sensing technology comprises a radar range finder terminal and an upper computer, the radar range finder terminal comprises a holder, an inertial sensor, a radar range sensor, a single chip microcomputer, a wireless signal module and a driving device, the driving device supplies power, the inertial sensor and the radar ranging sensor are both fixedly arranged on the holder, the inertial sensor and the radar ranging sensor respectively transmit attitude data and ranging data to the single chip microcomputer, the single chip microcomputer controls a lens steering device of the tripod head to correct and level the tripod head through attitude data feedback instructions, data of a radar range finder terminal are uploaded to an upper computer through a wireless signal module and a wireless self-organizing network, and the upper computer is used for receiving the data of the radar ranging terminal, integrating the data and processing the data to obtain a draught result.
The number of the radar sensor terminals is 6, and the radar sensor terminals are respectively used for being arranged on two opposite sides of the bow, the middle and the stern of the draught measurement marking line of the ship.
Wherein, the outside of radar range finder terminal is from installing the buckler.
Wherein the driving device is a battery.
Wherein the battery is a solar battery or a rechargeable battery.
The radar range finder terminal is connected with the ship through a magnet.
A high-precision ship draught real-time measuring system based on an inertial sensing technology comprises the following steps:
s1: initializing a draft measurement terminal;
s2: the system self-detection detects whether the operation of each plate has a fault, and if the operation of each plate has the fault, the system is repaired or an alarm is given; if no fault exists, the next step is carried out;
s3: measuring the attitude of a cradle head through an inertial sensor, sending a control command to level the cradle head according to cradle head attitude data, and calculating the draught of a ship according to a ship type value table through the distance from a radar liquid level meter to a water plane; sending the draught of the ship and the posture of the holder to an upper computer;
s4: and (4) determining whether the upper computer receives the ending instruction, if not, returning to the step S3 to continue the measurement, and if so, ending the measurement and draught.
The inertial sensor comprises an acceleration sensor, an angular velocity sensor, an inertial measurement unit and a magnetic sensor attitude reference system;
when the inertial sensor is used:
rotating the Z axis:
coordinate before rotation (X)0,Y0,Z0) After rotation of the coordinate (X)1,Y1,Z1)
Calculating a matrix:
wherein the content of the first and second substances,
rotating the Y axis:
coordinate before rotation (X)1,Y1,Z1) After rotation of the coordinate (X)2,Y2,Z2)
Calculating a matrix:
wherein the content of the first and second substances,
rotating the X axis:
coordinate before rotation (X)2,Y2,Z2) After rotation of the coordinate (X)3,Y3,Z3)
Calculating a matrix:
wherein the content of the first and second substances,
wherein the time difference t from reflection to reception of the radar ranging sensor is proportional to the distance L between the antenna and the object, and the following formula is adopted
L＝ct/2
Wherein c represents the transmission speed of the electromagnetic wave and is a constant value; t is the time difference from reflection to acceptance;
the height of the antenna of the sensor is set as H0Height H of the reflecting surface0-L＝H0-ct/2; if the antenna of the radar ranging sensor faces the wharf water surface to emit pulse waves, the H value is the water level value to be measured;
error calculation
U0.95＝2Sg
Wherein the content of the first and second substances,
in the formula, SgIs the statistical standard deviation; xiIs the radar level (m),
the mean value (m) of the water level values was observed manually.
Wherein the radar ranging sensor is an Enlai radar liquid level meter.
The radar ranging instrument terminal with the cloud deck is installed at the fixed draught marker line of the ship, and each terminal comprises the cloud deck, an inertial sensor, a radar ranging sensor, a single chip microcomputer and a wireless communication module. When the draft measurement system operates, the terminal automatically measures the inclination angle of the radar ranging sensor, and controls the holder to level the radar ranging sensor according to the measurement result, so that the radar sensor is perpendicular to the water plane, and the ranging precision is guaranteed. All the terminals are connected together through an infinite self-organizing network, and draft measurement results at all the terminals are sent to an upper computer (a driving platform) through two modes of direct sending and relay forwarding, so that workers on a ship can obtain accurate ship draft data in time.
A ship stopped in a port is certainly subject to wave motion, and the motion period may vary from a few seconds to a dozen seconds. To eliminate the effect of waves, the ship draft measurement system is required to have a considerable number of collected subsamples (generally, the collection time is not less than 2min) for each measurement. And according to the displayed periodic variation curves of all the measuring point data, selecting corresponding synchronous time segment data (integral multiple of the wave period) to perform average calculation so as to eliminate the influence of the waves. The ship draft measurement system can be used for collecting enough subsamples for multiple times to carry out synchronous measurement, and the measurement results of all measuring points are integrated. The ship draft data of each measuring point is obtained by the method, and the distribution curve of the ship draft along the ship length can be drawn through software. The displacement of the ship in the state can be accurately obtained by combining the ship profile value. And if the displacement of the ship in the empty state is accurately measured, the load capacity of the ship can be obtained.
In the ship principle, a course angle, a transverse inclination angle and a longitudinal inclination angle are three postures required in a ship, a gyroscope can only measure three-axis acceleration and three-axis angular velocity, the ship posture cannot be directly obtained, and corresponding postures are obtained through coordinate rotation transformation and integral relation, for example, radar pulse emission is adjusted according to the method shown in figure 5, so that a lens can be always parallel to the water surface, and errors are reduced.
The GY-25 gradient module is characterized by low power consumption of 3-5v working voltage, small volume, high cost performance and serial output format. And finally obtaining direct angle data through a data fusion algorithm by the gyroscope and the acceleration sensor. This inclination module communicates with the host computer with serial ports TTL level full duplex mode. The product has high precision and high stability. The method can obtain an accurate angle at any position, the output Baud rate has two modes of continuous output and inquiry output, namely 9600bps and 115200bps, and the method can adapt to different working environments. Is connected with all single-chip microcomputers and computers.
The module is electrified and self-calibrated, a static state is required to be kept for more than 3 seconds, the module is not provided with a magnetometer, and the course angle can drift for a long time. The euler angles of the angles have mutual influence when rolling and pitching are at 90 degrees due to the problem of direction locking. The high and low level 3V-5V of the input and output of the module can be directly connected with the serial port of the single chip microcomputer, can be directly connected with chips such as PL2303, CH340, FT232 and the like, but cannot be directly connected with the nine-pin serial port of the computer.
The existing Enlai radar liquid level meter on the market is used as a distance measuring sensor, the measuring range is large, the precision is high, the measuring range is 1.2-70 m, and the precision is +/-3 mm.
China has a coastline of 18000 kilometers and an inland river navigation line of 12.3 kilometers, and natural conditions which are unique lay a good foundation for the development of the navigation industry of China. 89% of the goods exported by foreign trade in China are shipped. The international shipping ships in China account for 10.3 percent of the total amount of world commercial fleets, the container positions account for 20.0 percent of the total amount of the world, and the total transport capacity of the fleets is ranked fifth in the world commercial fleets, so that the international shipping ships become one of world shipping countries. Shipping plays a great role in national economic development.
According to the international ship network, in 2030 years of the 2030 China shipping development prospect report which is compiled by the Shanghai International shipping research center and takes years, the China shipping industry will dominate the global container shipping trade, and approximately accounts for 17% of the global shipping volume; china will continue to trade in the first large commodity in the world. China will become the first world-wide cruise market for the cruise ships, and under the drive of the cruise market, China enterprises will enter the cruise market and lay out various links of the operation and construction of the cruise ships and the industrial chains of the cruise ships, harbors and the like.
China has huge ship markets, the number of ships is in the front of the world, inland river shipping and sea shipping are developed, but ship draft measurement work is still carried out in a water gauge observation mode, a manual measurement mode, a traffic boat winding mode and the like, so that the efficiency is low, and the measurement is easy to have errors.
A mature, accurate and automatic ship draft measuring system does not appear in the market, so that the system has huge market potential and wide market space.
Finally, it should be noted that: various modifications and alterations of this invention may be made by those skilled in the art without departing from the spirit and scope of this invention. Thus, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Claims (10)
1. A high-precision real-time measuring system for ship draught based on an inertial sensing technology is characterized by comprising a radar range finder terminal and an upper computer, the radar range finder terminal comprises a holder, an inertial sensor, a radar range sensor, a single chip microcomputer, a wireless signal module and a driving device, the driving device supplies power, the inertial sensor and the radar ranging sensor are both fixedly arranged on the holder, the inertial sensor and the radar ranging sensor respectively transmit attitude data and ranging data to the single chip microcomputer, the single chip microcomputer controls a lens steering device of the tripod head to correct and level the tripod head through attitude data feedback instructions, data of a radar range finder terminal are uploaded to an upper computer through a wireless signal module and a wireless self-organizing network, and the upper computer is used for receiving the data of the radar ranging terminal, integrating the data and processing the data to obtain a draught result.
2. The real-time measurement system for the draft of the ship with high precision based on the inertial sensing technology is characterized in that 6 radar sensor terminals are arranged and are respectively used for being installed on two opposite sides of the bow, the middle and the stern of a draft measurement marking line of the ship.
3. The system for measuring the draft of the ship with high precision in real time based on the inertial sensing technology of claim 1, wherein a waterproof cover is installed outside the radar range finder terminal.
4. The system for measuring the draft of the ship with high precision in real time based on the inertial sensing technology as claimed in claim 1, wherein the driving device is a battery.
5. The system for measuring the draft of the ship with high precision in real time based on the inertial sensing technology is characterized in that the battery is a solar battery or a rechargeable battery.
6. The system for measuring the draft of the ship with high precision in real time based on the inertial sensing technology of claim 1, wherein the radar range finder terminal is connected with the ship through a magnet.
7. The system for measuring the draft of the ship with high precision in real time based on the inertial sensing technology is characterized by comprising the following steps of:
s1: initializing a draft measurement terminal;
s2: the system self-detection detects whether the operation of each plate has a fault, and if the operation of each plate has the fault, the system is repaired or an alarm is given; if no fault exists, the next step is carried out;
s3: measuring the attitude of a cradle head through an inertial sensor, sending a control command to level the cradle head according to cradle head attitude data, and calculating the draught of a ship according to a ship type value table through the distance from a radar liquid level meter to a water plane; sending the draught of the ship and the posture of the holder to an upper computer;
s4: and (4) determining whether the upper computer receives the ending instruction, if not, returning to the step S3 to continue the measurement, and if so, ending the measurement and draught.
8. The real-time measurement system for the draft of the high-precision ship based on the inertial sensing technology is characterized in that the inertial sensor comprises an acceleration sensor, an angular velocity sensor, an inertial measurement unit and a magnetic sensor attitude reference system;
when the inertial sensor is used:
rotating the Z axis:
coordinate before rotation (X)0,Y0,Z0) After rotation of the coordinate (X)1,Y1,Z1)
Calculating a matrix:
wherein the content of the first and second substances,
rotating the Y axis:
coordinate before rotation (X)1,Y1,Z1) After rotation of the coordinate (X)2,Y2,Z2)
Calculating a matrix:
wherein the content of the first and second substances,
rotating the X axis:
coordinate before rotation (X)2,Y2,Z2) After rotation of the coordinate (X)3,Y3,Z3)
Calculating a matrix:
wherein the content of the first and second substances,
9. the system of claim 1, wherein the time difference t from reflection to reception of the radar ranging sensor is proportional to the distance L between the antenna and the object, and the following formula is adopted
L＝ct/2
Wherein c represents the transmission speed of the electromagnetic wave and is a constant value; t is the time difference from reflection to acceptance;
the height of the antenna of the sensor is set as H0Height H of the reflecting surface0-L＝H0-ct/2; if the antenna of the radar ranging sensor faces the wharf water surface to emit pulse waves, the H value is the water level value to be measured;
error calculation
U0.95＝2Sg
Wherein the content of the first and second substances,
in the formula, SgIs the statistical standard deviation; xiIs the radar level (m),
the mean value (m) of the water level values was observed manually.
10. The system of claim 1, wherein the radar ranging sensor is an Enlai radar level gauge.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113804271A (en) * | 2021-09-10 | 2021-12-17 | 天津理工大学 | Ship water gauge metering system and method based on portable differential positioning instrument |
| CN115214855A (en) * | 2022-07-19 | 2022-10-21 | 江南造船(集团)有限责任公司 | Ship floating state parameter real-time measurement system and measurement method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113804271A (en) * | 2021-09-10 | 2021-12-17 | 天津理工大学 | Ship water gauge metering system and method based on portable differential positioning instrument |
| CN115214855A (en) * | 2022-07-19 | 2022-10-21 | 江南造船(集团)有限责任公司 | Ship floating state parameter real-time measurement system and measurement method |
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