Deep sea platform dimension and attitude reference information autonomous acquisition method
A technology of reference information and acquisition method, which is applied in the field of underwater navigation and positioning of deep sea platforms, and can solve the problems of inertial navigation system error evaluation and correction, lack of means to obtain accurate positioning and attitude reference information in deep sea water, etc.
Active Publication Date: 2020-10-27
TIANJIN NAVIGATION INSTR RES INST
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[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a method for autonomously acquiring the dimension and attitude reference information of deep-sea platforms. Inertial navigation system error assessment and correction provide baseline information
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[0034] The present invention will be described in further detail below in conjunction with the drawings and specific examples. The following examples are only descriptive, not restrictive, and cannot limit the protection scope of the present invention.
[0035] A method for autonomously acquiring dimension and attitude reference information of a deep-sea platform, the inventive point of which comprises the following steps:
[0036] Step 1: Build Device A, see figure 1 , the feature of device A is: it is composed of three rotating frames of outer frame 1, middle frame 2 and inner frame 3 and a table body installed on the inner frame, the axis of the middle frame is perpendicular to the axis of the outer frame, and the axis of the inner frame is perpendicular to the axis of the middle frame , an accelerometer 5 and a rate gyroscope 4 are installed on the table body, and the direction of the sensitive axis of the accelerometer and the gyroscope is consistent and perpendicular to ...
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The invention relates to a deep sea platform dimension and attitude reference information autonomous acquisition method which is characterized by comprising the following steps: firstly, constructinga device A which is composed of three rotating frames including an outer frame, a middle frame and an inner frame and a platform body installed on the inner frame, and installing an accelerometer anda rate gyroscope on the platform body; then, establishing a platform fixed-connection coordinate system oxyz, mounting a device A on a deep sea platform, and diving the deep sea platform to the seabedand keeping the deep sea platform in a static state; and then, carrying out measurement of continuous 360-degree rotation of the inner frame shaft, rotation of the outer frame shaft to a theta 1 position, rotation of the middle frame shaft to a psi 1 position, rotation of the outer frame shaft to a theta 2 position, rotation of the middle frame shaft to a psi 2 position, continuous 360-degree rotation of the inner frame shaft, rotation of the outer frame shaft to a theta 3 position and rotation of the middle frame shaft to a psi 3 position sequentially. According to the method, the bottleneckproblem of lack of means for acquiring precision positioning and attitude reference information under deep sea is solved, and reference information is provided for error evaluation and correction ofan inertial navigation system.
Description
technical field [0001] The invention belongs to the technical field of deep-sea platform underwater navigation and positioning, and in particular relates to a method for autonomously acquiring dimension and attitude reference information of a deep-sea platform. Background technique [0002] At present, my country is actively promoting the national development strategy of the "21st Century Maritime Silk Road". The navy's military strategy transformation from "offshore defense" to "offshore defense, open sea protection, ocean presence, and bipolar expansion" means the development of the country's marine economy and military power. Going to the deep sea will be normalized. Navigation information assurance is the basis of the information assurance system for marine economic activities and military activities. However, due to the limited underwater application of various navigation methods such as satellite navigation and celestial navigation, deep-sea platforms mainly use inertia...
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IPC IPC(8): G01C25/00G01C21/18G01C21/16G01C21/20
CPCG01C25/005G01C21/18G01C21/16G01C21/203
Inventor 李晓平刘俊宫京周贤高王毅
Owner TIANJIN NAVIGATION INSTR RES INST