ahrs installation declination measurement method

A measurement method and a technology of installation deflection angle, which is applied in the directions of measuring devices, measurement angles, surveying and navigation, etc., can solve problems such as the inability to effectively verify the accuracy of AHRS installation deflection angle results, and achieve the effect of effective evaluation of accuracy

Active Publication Date: 2020-08-21
THE FIRST INST OF OCEANOGRAPHY SOA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the above defects in the prior art, the present invention proposes a method for measuring AHRS installation deflection angle, the purpose of which is to solve the problem that the prior art cannot effectively verify the accuracy of AHRS installation deflection angle results

Method used

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Embodiment 1

[0027] Such as Figure 1 to Figure 3 As shown, the method for measuring the AHRS installation deflection angle of the present invention comprises the following steps:

[0028] S1: Use the measurement unit to measure the position P(x) of three or more feature points on the carrier reference plane under the geographic reference plane i ,y i ,z i ), and use the error allocation principle or the least squares method to obtain the equation A of the carrier reference plane XOY 0 x+B 0 y+C 0 z+D 0 = 0;

[0029] S2: Use the measurement unit to measure the positions of points A and F on the carrier that have a clear relationship with the carrier heading under the geographic reference system, and obtain the projection point A'(x' of the two observation points on the carrier reference plane XOY A ,y' A ,z' A ) and projected point F'(x' F ,y' F ,z' F ), the process is as follows:

[0030] S21: XOY plane equation A in known space 0 x+B 0 y+C 0 z+D 0 =0 and two points A(x ...

Embodiment 2

[0043] The method for measuring the AHRS installation deflection angle described in the present invention can be applied to scientific research purposes.

[0044] For example, before the scientific research ship conducts underwater survey work, use this method to measure the installation deflection angle of the AHRS equipment installed on the hull, and then input the measurement results into the AHRS, so that other marine survey equipment or systems, such as multi-beam survey Deep system, ADCP, USBL, etc. to obtain more accurate heading, pitch and roll observations to improve the measurement precision and accuracy of the above-mentioned survey equipment.

[0045] The present invention utilizes the measurement unit to measure the positions of several points on the carrier reference plane and the positions of two or more points on the heading; according to the positions of several points on the carrier reference plane, the equation Ax+By+Cz+D=0 of the plane XOY of the carrier ref...

Embodiment 3

[0047] The AHRS installation deflection angle measurement method described in the present invention can be applied to geographic modeling purposes.

[0048] For example, using this method to determine the installation deviation of the AHRS on the carrier will improve the measurement accuracy and accuracy of the entire system before performing photogrammetry on cars and airplanes equipped with CCD and 3D laser scanners to obtain topography and street views. Spend.

[0049] The present invention can be widely used in the occasion of angle calibration. After inputting all installation deviation results of AHRS into AHRS, the heading, roll and pitch outputted by AHRS are compared with the results obtained by measuring the characteristic points of the carrier. In this way, the accuracy of the AHRS installation deflection angle results can be effectively evaluated.

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Abstract

The invention relates to an AHRS (Attitude and Heading Reference System) installation deflection angle measurement method, and belongs to the technical field of angle calibration. The method comprisesthe following steps: obtaining an equation of a carrier reference surface XOY according to a plurality of point locations on the reference surface of a carrier; obtaining a heading value hV and a heading vector as shown in the specification of the carrier according to feature points on a heading direction; obtaining a projection as shown in the specification of the heading vector on an XOY planeaccording to the heading vector as shown in the specification and the equation of XOY; obtaining a value as shown in the specification according to a perpendicular relation, and obtaining included angles p and r between the projection as shown in the specification and the value as shown in the specification; subtracting the heading value hv of the carrier from a heading value as shown in the specification output by the AHRS and recorded during observation, so as to obtain a heading installation deflection delta h of the carrier; inputting delta h into the AHRS, recording a longitudinal shakingvalue as shown in the specification outputting by the AHRS, subtracting the longitudinal shaking value p of the carrier to obtain a longitudinal shaking installation deflection delta p, inputting delta p into the AHRS, recording a transverse shaking value as shown in the specification output by the AHRS, and subtracting a transverse shaking value r of the carrier to obtain a transverse shaking installation deflection delta r. The result is accurate and verifiable.

Description

technical field [0001] The invention relates to a method for measuring an AHRS installation deflection angle, belonging to the technical field of angle calibration. Background technique [0002] AHRS is usually used on carriers such as aircraft, aircraft and vehicles, including systems such as MRU, PHINS, HYDRINS and OCTANCE. Since there is no special method to measure the installation deflection angle between the AHRS and the above-mentioned carrier, it is usually through visual observation of the angle between the reference indicator line on the AHRS body and the carrier installation surface. By visually approximating the angle between the reference objects aligned along the carrier heading, or using the post-processing of the calibration data of the multi-beam sounding system to estimate the installation deviation, in some cases, the installation deviation value cannot be obtained accurately. This installation deviation is thus directly ignored. [0003] The reasons for...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C1/00
CPCG01C1/00
Inventor 李治远豆虎林吴永亭张海泉胡俊
Owner THE FIRST INST OF OCEANOGRAPHY SOA
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