Ship attitude calculation method and system based on GNSS (Global Navigation Satellite System)

Abstract

The invention relates to a ship attitude calculation method and system based on a GNSS (Global Navigation Satellite System). The ship attitudes comprise heeling and trim. The method comprises the following steps of: taking two test points on the central axis of a hull; setting GNSS receiving devices at the test points, and monitoring the GNSS locations of the test points in real time through the GNSS receiving devices; establishing a space coordinate system, and forming corresponding space coordinates of the GNSS locations in the space coordinate system; and determining the attitude of a ship based on the change condition of the space coordinates corresponding to the two test points. The invention provides a simple and reliable method for calculating the attitude of a ship and solving the problems in related technologies.

Description

technical field [0001] The invention relates to the field of ship measurement, in particular to a GNSS-based hull attitude calculation method and system. Background technique [0002] Ships are affected by wind and waves during operation and berthing, which will cause rolling and heaving phenomena at the same time, which will affect the hull guidance and docking process in severe cases. At present, the satellite positioning system is installed on the hull, but it is generally only used for plane positioning and cannot analyze the attitude of the hull. [0003] Related technology CN110082033A, aiming at the irrationality and inaccuracy of the existing methods for determining the center of gravity of waterborne vehicles, proposes a device for measuring the center of gravity of waterborne vehicles in a moving state. It involves receiving GNSS satellite signals in real time based on the GNSS signal receiving device, and obtaining the attitude values ​​of roll, pitch and heave o...

AI Technical Summary

Problems solved by technology

[0004] However, related technologies use different special sensors (such as attitude sensors such as PHINS or POS MV) to obtain different types of attitude data (including measuring the heading angle), and then merge them into one coordinate system to calculate the roll and pitch of the water carrier. and the attitude value of heave, while the attitude sensor uses magnetic or gravity principles to measure the attitude data of the ship, such as heel and pitch. In areas with magnetic anomalies or when the ship has magnetic / gravity interference, the roll attitude of the ship will not change. easy to get

At the same time, this method needs to combine the plane coordinates of GNSS and the heel data of the attitude sensor to calculate the attitude of the ship, and the calculation method is relatively complicated.

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