CN103900609B - The course precision real-time detecting system of a kind of marine aided inertial navigation system and detection method - Google Patents

Abstract

The invention provides a system and method for real-time detection of heading accuracy of marine inertial navigation equipment. The system includes: ship differential global positioning system unit 1, photoelectric theodolite unit 2, attitude information interface unit 3, target unit 4, data acquisition and processing unit 5, etc. The ship's differential global positioning system unit 1 is used to ensure time synchronization and obtain the precise position information of the photoelectric theodolite unit 2 and the target unit 4; the photoelectric theodolite unit 2 and the target unit 4 are used to measure the ship's angle; the attitude information interface unit 3 can obtain The attitude and heading information of the ship is calculated by the data acquisition and processing unit 5 to obtain the heading accuracy of the marine inertial navigation equipment. The device and method provided by the invention can realize the real-time measurement of heading accuracy, reduce the measurement error of dynamic heading accuracy, and improve the measurement accuracy of the photoelectric theodolite.

Description

A real-time detection system and detection method for heading accuracy of a marine inertial navigation system

technical field

The invention relates to the field of performance detection of navigation instruments, in particular to a dynamic course accuracy detection system and detection method of marine inertial navigation equipment.

Background technique

Inertial navigation is based on the principle of Newton's inertia, using inertial components (gyroscopes, accelerometers) to measure the angular velocity and acceleration of the carrier itself, and the attitude (heading angle, roll angle, pitch angle), speed and position are obtained through integration and calculation , so as to achieve the purpose of determining the attitude and navigation of the vehicle. The equipment that makes up the inertial navigation system is installed in the carrier, and its work does not depend on external information, does not radiate energy to the outside world, and is not easily disturbed. It is an autonomous navigation system.

After the inertial navigation equipment is installed on the carrier base, there is an installation error angle, which needs to be corrected. Therefore, the heading accuracy of the initially installed navigation equipment must be tested.

It is relatively easy to measure the high-precision static level and azimuth of the fiber-optic inertial navigation equipment on land, but it is very difficult to measure high-precision under dynamic conditions at sea. Although the current platform compass accuracy detection method adopted in the mooring navigation test process meets the relevant requirements of the national military standard and the requirements of the ship navigation test specification, but is restricted by the technical support conditions at that time, the quoted national military standard measurement method can only guarantee the heading (that is, the relative accuracy of the heading), the data collection is completely completed manually during the test process, and the efficiency is low. Therefore, the current precision detection methods cannot fully meet the high precision requirements of the combat weapon system for the true heading. The dynamic and high-precision detection of output parameters of inertial navigation equipment has become the bottleneck of inertial navigation equipment testing and the key to test evaluation.

Contents of the invention

The purpose of the present invention is to provide a marine inertial navigation system that can accurately measure the course angle of the ship in the shaking state of the ship, and can output the course angle of the ship in real time, and can use this measurement value to correct the accuracy of the course angle output value of the ship's inertial navigation equipment. A dynamic course accuracy detection system for equipment, the purpose of the present invention is also to provide a dynamic course accuracy detection method for marine inertial navigation equipment.

The purpose of the present invention is achieved like this:

The present invention includes: a ship differential global positioning system unit 1, a photoelectric theodolite unit 2, an attitude information interface unit 3, a target unit 4 and a data acquisition processing unit 5; the ship differential global positioning system unit 1 is used to ensure time synchronization of all units of the detection system , and obtain the precise position information of the photoelectric theodolite unit 2 and the target unit 4, and transmit it to the data acquisition processing unit 5; ship angle, and transmit the collected data to the data collection processing unit 5; the attitude information interface unit 3 receives the time synchronization signal provided by the ship differential global positioning system unit 1, and can obtain the ship attitude heading information, which is transmitted to the data collection processing unit 5; The system obtains the heading accuracy of the marine inertial navigation equipment through data acquisition and processing unit 5;

The involved photoelectric theodolite unit 2 includes: gyro stabilization device 6, visible light imaging system 7, image tracker 8, main control computer 9, frame 10, servo control system 11 and differential global positioning system receiving antenna 12; visible light imaging system 7 and the differential global positioning system receiving antenna 12 are installed on the frame 10, and the frame 10 is installed on the gyro stabilization device 6 to isolate the visual axis of the photoelectric theodolite from the movement of the hull; the visible light imaging system outputs signals to image tracking device 8, and then transmitted to the main control computer 9; the main control computer 9 sends instructions to the servo control system 11, and the servo control system 11 outputs control signals to control the gyro stabilization device 6; track;

The target unit 4 involved includes: a target stand 13, a marker antenna 14, a differential global positioning system module 15 and a radio transmission module 16; Installed on the target stand 13 near the top position.

A method for real-time detection of heading accuracy of a marine inertial navigation system, comprising the following steps:

Step 1, utilize ship differential global positioning system unit 1 to carry out the time synchronization of each unit, and obtain photoelectric theodolite unit 2 position coordinates and target unit 4 position coordinates, can obtain the geodetic azimuth A between two points by the geodetic azimuth method;

The geodetic azimuth A involved is the angle between the position of photoelectric theodolite unit 2 and the position of target unit 4 and true north;

Step 2, use the photoelectric theodolite unit 2 to track the target unit 4 in real time, obtain the earth azimuth A and the target angle q on the ship carrier coordinate system, and calculate the observation course angle H;

The expression for the observed heading angle H involved:

H=A-q

Step 3: According to the heading angle H _p measured by the inertial navigation equipment synchronously output by the attitude information interface unit 4, the calculation is performed in the data acquisition and processing unit 5 to obtain the heading deviation ΔH;

The expression for the heading deviation ΔH involved is:

ΔH=H _p -H

The beneficial effects of the present invention are that, comprehensively using geodetic surveying, photoelectric tracking, and inertial measurement methods, the course angle deviation can be measured in real time when the ship is shaking, and it solves the problem of optical measuring instruments measuring when the ship is moored or docked. The problem of large errors, and combined with the real-time output of the heading angle deviation of the inertial navigation equipment, the heading angle accuracy test provides more reliable data support.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the system of the present invention.

Figure 2 is a schematic diagram of the photoelectric theodolite unit.

Figure 3 is a schematic diagram of the basic structure of the photoelectric theodolite unit.

Fig. 4 is a schematic diagram of the basic structure of the target unit.

Figure 5 shows the relationship between the geodetic azimuth and the heading and the ship angle.

Figure 6 is a simplified diagram of the system installation location.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings.

Reference signs: 1 ship DGPS unit, 2 photoelectric theodolite unit, 3 attitude information interface unit, 4 target unit, 5 data acquisition and processing unit; 6 gyro stabilization device, 7 visible light imaging system, 8 image tracker, 9 main control computer, 10 photoelectric theodolite frame, 11 servo control system, 12 ship DGPS antenna; 13 target unit stand, 14 target mark antenna, 15 radio transmission module, 16DGPS module; 17 represents the bow and stern line of the ship, 18 represents the photoelectric theodolite unit, 19 electronic equipment Box (including servo control system 11 circuit board of photoelectric theodolite unit 2 and main control computer 9 circuit board, ship DGPS unit 1, and data acquisition and processing unit 5), 20 ship navigation equipment (including attitude information interface unit 3), 4 targets Unit 21 corrects the plane reflector for the initial zero position of the photoelectric theodolite.

The present invention designs a system and method for real-time detection of dynamic course accuracy of ships, which can accurately measure and output the course angle of ships in real time, and use the measured value to correct the course angle output value of marine inertial navigation equipment. The schematic diagram of the overall structure of the system is shown in Figure 1.

The system includes: ship DGPS unit 1, photoelectric theodolite unit 2, target unit 4, attitude information interface unit 3, data acquisition and processing unit 5, etc.

Ship DSPS unit 1: This unit is the time reference and ship position reference for system measurement. The module sends 1PPS (1 pulse per second) pulse signal and includes time (t) and ship position to the photoelectric theodolite unit, data acquisition and processing unit, attitude information interface unit and target unit The serial port message of the information.

Photoelectric theodolite unit: This unit synchronously samples the ship angle and elevation angle of the target on the carrier coordinate system through the 1PPS signal, and sends it to the data sampling processing unit through the serial interface for calculation. The unit includes: gyro stabilization device 6, visible light imaging system 7, image tracker 8, main control computer 9, photoelectric theodolite frame 10, servo control system 11 and DGPS antenna 12, etc., and its composition diagram is shown in Figure 2 . Described in Fig. 3 the basic structure of photoelectric theodolite unit 2, gyro stabilizer 6 adopts the stable structure of two axes two degrees of freedom, is used for eliminating the impact that other disturbances such as sea waves, wind etc. cause to photoelectric theodolite during the motion process of hull, The visual axis of the photoelectric theodolite is isolated from the movement of the hull, so that the photoelectric theodolite is stabilized in a fixed inertial space direction. A photoelectric theodolite frame 10 is mounted on the gyro-stabilized platform, and a visible light imaging system 7 is installed on the pitch axis of the frame to form target signal images. Image tracker 8 adopts center of gravity tracking and correlation tracking to combine target tracking, and the tracking information is transmitted to the main control computer 9, and the rotation information required for tracking is transmitted to the servo control system 11 through calculation, and the photoelectric theodolite frame 10 is adjusted, Ensure that the photoelectric theodolite tracks the target signal in real time. The photoelectric theodolite uses optical means to regard the bow and stern lines as the zero reference, and can realize the real-time measurement of the target angle and elevation angle of the target on the carrier coordinate system by tracking the target signal in real time. To ensure that the heading angle measurement value output by the optical fiber theodolite can be aligned with the measurement value of the inertial navigation equipment and the DGPS system on the time axis in the final data processing process, the 1PPS signal of the DGPS antenna 12 that needs to be installed on the frame pitch axis Add absolute time stamps to the data.

Attitude information interface unit 3: This unit uses 1PPS synchronization signal to synchronize the carrier attitude information (heading angle, roll angle, pitch angle) to the data acquisition and processing unit 5 for the purpose of heading angle calculation. The attitude information of the unit mainly comes from the inertial navigation equipment of the ship.

Target unit 4 : the specific structure diagram is shown in FIG. 4 , including a target stand 13 , a marker antenna 14 , a DGPS module 16 and a radio transmission module 15 . This unit provides an aiming point with precise coordinates for the photoelectric theodolite unit 2, and transmits the message with time and position information to the data sampling processing unit 5 through the wireless transmission module 15 in the unit. The precise time position information of the unit can be measured by the DGPS module 16 installed in the target unit. The unit needs to stand at a place between 500m and 1500m away from the ship, such as the shore of a port, and the target unit 4 can also be constructed by fixing small boats on the water surface.

Data collection and processing unit 5: This unit uses 1PPS signal to synchronously sample attitude information interface unit data 3, target altitude angle and sheer angle data measured by photoelectric theodolite unit 2, and target precise coordinate point data, and calculate the true course of the ship.

The specific process of implementing the measurement is as follows:

1. Measurement system equipment installation and connection

At first need to carry out system equipment installation, system installation location simple diagram as shown in Figure 6, install photoelectric theodolite unit 18 on ship bow and stern line 17, wherein gyro stabilizer 6, install photoelectric theodolite frame 10 on gyro stabilizer 6, The ship DGPS antenna 12 and the visible light imaging system 7 are installed on the pitch frame of the photoelectric theodolite. The servo control system 11 and the main control computer 9 of the photoelectric theodolite are placed in a separate electronic equipment box 19 . The DSPS information sending module and the data acquisition processing unit are also placed in the electronic equipment box 19 . The attitude information interface is connected at 20 with the inertial navigation equipment of the ship itself. The target unit 4 is installed near the shore, between 500m and 1000m away from the ship, and the DGPS antenna is arranged on the target, and the wireless transmission module is connected to ensure smooth communication with the data acquisition and processing unit.

2. Leveling of photoelectric theodolite unit 2 and determination of initial zero position

The gyro-stabilized platform 6 starts to work, and isolates the visual axis of the photoelectric theodolite from the motion of the ship, so as to ensure the horizontal placement of the photoelectric theodolite. Simultaneously, arrange a mirror 21 along the bow and stern line direction of the ship, ensure that the normal line of the mirror 21 is horizontal and be on the bow and stern line, adjust the photoelectric theodolite, ensure that the normal line of the mirror is aligned with the theodolite, and confirm After the position is aligned, the zero reference direction of the photoelectric theodolite in the direction of the bow and stern of the ship can be confirmed.

3. Real-time measurement of heading angle error

Adjust the direction of the photoelectric theodolite unit 18 so that the visible light imaging system 7 on the pitch axis of the photoelectric theodolite frame is aimed at the target unit 4 to form a target signal image. Image tracker 8 adopts center of gravity tracking and correlation tracking to combine target tracking, and the tracking information is transmitted to the main control computer 9, and after calculation, the rotation information required for tracking is transmitted to the servo control system 11, and the photoelectric theodolite frame 10 is adjusted. , to ensure that the photoelectric theodolite tracks the target signal in real time. On the basis that the zero reference of the photoelectric theodolite has been established, the photoelectric theodolite can measure the side angle and elevation angle of the target in the carrier coordinate system in real time.

Start the data acquisition and processing unit in 19, utilize ship DSPS unit to send 1PPS (1 pulse per second) pulse signal and include time (t) to the data acquisition and processing unit in photoelectric theodolite unit 18, target unit 4, attitude information interface unit And the serial port message of the ship's position (latitude, longitude) (B1, L1) information, because the ship's DGPS antenna is installed on the pitch axis of the photoelectric theodolite frame 10, the ship's position information provided here can be regarded as the position information of the photoelectric theodolite .

The photoelectric theodolite unit 18 synchronously samples the sheer angle q and altitude angle of the target unit 4 on the carrier coordinate system through the 1PPS signal, and sends them to the data sampling processing unit 5 in 19 through the serial interface. The target unit uses the 1PPS signal to synchronize the position (B2, L2) and time (t) information of the target unit 4, and transmits the message with the time (t) and position (B2, L2) information through the wireless transmission module 15 of the target unit. transmitted to the data sampling processing unit 5 in 19. The attitude information interface unit synchronizes the carrier attitude (course angle, roll angle, pitch angle) information measured by the ship inertial navigation equipment to the data acquisition and processing unit 5 through the 1PPS synchronization signal. The data acquisition and processing unit in 19 is synchronized through the 1PPS The signal can be collected to obtain the position (B1, L1) information of the photoelectric theodolite unit 18, the position (B ₂ , L ₂ ) information of the target unit 4, and the attitude of the carrier of the attitude information interface unit 20 (heading angle H, roll angle R, vertical The information of the roll angle P) and the ship angle q of the target unit 4 on the carrier coordinate system are time-synchronized to ensure the time consistency of the measured data and improve the accuracy of real-time measurement data output.

According to the obtained data information, the data acquisition and processing unit 5 is used for calculation, and the specific calculation rules are as follows:

Set the starting point P1 photoelectric theodolite unit coordinates (B1, L1), the end point P2 target unit coordinates (B2, L2), and the coordinates of the two positions are known, and the azimuth A between the two points can be obtained by the azimuth method, as shown in Figure 3 shown. The geodetic azimuth method is a common method of geodesy, so it will not be repeated here.

The system schematic diagram of specific embodiment is as shown in Figure 5, and OXY is the horizontal expression of carrier coordinate system, and OY is ship bow and stern line, and P1 photoelectric theodolite frame at O point, N is true north direction, and P2 point is target unit; The ship angle from the bow and stern line to the target unit, A is the geodetic azimuth angle measured from P1 and P2 points, and H is the precise heading angle measured by the system;

The geodetic azimuth A and the target ship angle q at the same moment obtained through time synchronization, according to the angle relationship diagram drawn in Figure 3, the course angle can be obtained: H=A-q.

According to the heading angle H _p measured by the inertial navigation equipment output by the attitude information interface unit, the heading deviation angle can be obtained: ΔH=H _p −H.

The data acquisition and processing unit in the electronic equipment box 19 can calculate the course deviation value of the inertial navigation equipment installed on the ship after DGPS time synchronization. Since this deviation value can be measured and calculated in real time, the ship can also be accurately measured when shaking or moving. Measure the heading deviation angle and output it.

This system can be applied to when the ship is in mooring, constant speed and direct sailing, etc., and the accuracy of the inertial navigation equipment installed on the ship can be judged by the magnitude of the course deviation angle output in real time from the detection system.

Claims (2)

1. A real-time detection system of heading accuracy of a marine inertial navigation system, characterized in that it comprises: a ship's differential global positioning system unit (1), a photoelectric theodolite unit (2), an attitude information interface unit (3), a target unit (4 ) and data acquisition processing unit (5); the ship differential global positioning system unit (1) is used to ensure the time synchronization of all units of the detection system, and obtains the precise position information of the photoelectric theodolite unit (2) and the target unit (4), and transmits To the data acquisition and processing unit (5); the photoelectric theodolite unit (2) and the target unit (4), receive the time synchronization signal provided by the ship's differential global positioning system unit (1), for measuring the ship's angle, and transmit the collected data to The data acquisition and processing unit (5); the attitude information interface unit (3), which receives the time synchronization signal provided by the ship's differential global positioning system unit (1), can obtain the ship's attitude and heading information, and transmits it to the data acquisition and processing unit (5); the system The heading accuracy of the marine inertial navigation equipment is obtained through processing by the data acquisition and processing unit (5); The photoelectric theodolite unit (2) comprises a gyro stabilizer (6), a visible light imaging system (7), an image tracker (8), a main control computer (9), a frame (10), a servo control system (11 ) and the differential global positioning system receiving antenna (12); the visible light imaging system (7) and the differential global positioning system receiving antenna (12) are installed on the frame (10), and the frame (10) is installed on the gyro stabilization device (6) above, the visual axis of the photoelectric theodolite is isolated from the movement of the hull; the output signal of the visible light imaging system is sent to the image tracker (8), and then transmitted to the main control computer (9); the main control computer (9) sends instructions to act on the servo The control system (11), the servo control system (11) outputs a control signal to control the gyro stabilization device (6); the target is tracked in real time through the visible light imaging system (7) and the image tracker (8); Described target unit (4), comprises target platform (13), mark antenna (14), differential global positioning system module (15) and radio transmission module (16); Mark antenna (14), differential global positioning system module ( 15) Installed on the top of the target stand (13), the radio transmission module (16) is installed near the top of the target stand (13). 2. A real-time detection method of heading accuracy of a marine inertial navigation system, characterized in that, comprising the following steps: Step 1, utilize ship differential global positioning system unit (1) to carry out time synchronization of each unit, and obtain photoelectric theodolite unit (2) position coordinates and target unit (4) position coordinates, obtain photoelectric theodolite unit ( 2) The geodetic azimuth A between the position coordinates and the target unit (4) position coordinates; Involved geodetic azimuth A The angle between the position of the photoelectric theodolite unit (2) and the position of the target unit (4) and true north; Step 2, utilize the photoelectric theodolite unit (2) to track the target unit (4) in real time, obtain the geodetic azimuth A and the target ship angle q on the ship carrier coordinate system, and calculate the observation course angle H; The expression for the observed heading angle H involved is: H=A-q Step 3, according to the heading angle H _p measured by the inertial navigation equipment synchronously output by the attitude information interface unit (4), solve it in the data acquisition and processing unit (5), and obtain the heading deviation ΔH; The expression for the heading deviation ΔH involved is: ΔH ₌ Hp-H.