Detachable telescopic surveying and mapping triple-hulled vessel

Abstract

The invention discloses a detachable telescopic surveying and mapping triple-hulled vessel, and belongs to the technical field of ship engineering.The detachable telescopic surveying and mapping triple-hulled vessel comprises a self-adaptive intelligent adjusting system, a main vessel body, telescopic devices arranged on the two sides of the main vessel body and side vessel bodies arranged on the telescopic devices, and a cavity used for containing the telescopic devices is formed in the main vessel body; the self-adaptive intelligent adjusting system is used for controlling the expansion and contraction of the expansion and contraction device; the modular connection design is adopted, the main body ship, the side body ship, the shear fork structure and other assemblies can be rapidly and freely disassembled and assembled, the storage size is reduced by 40%, and the problems that the size is large, and storage and carrying are not easy are solved. And meanwhile, the maintenance efficiency of the triple-hulled vessel is improved due to the detachable design of all the components. Due to the detachable structural design, the triple-hulled vessel can be detached into a plurality of independent units when not used, local maintenance is facilitated through the independent unit design, the risk that the whole vessel is scrapped is reduced, transportation and storage are facilitated, and the transportation cost and the storage space requirement are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of ship engineering, and particularly to a detachable telescopic survey trimaran. Background Art

[0002] In water area surveying work, professional survey ships are needed to carry various surveying equipment to obtain accurate data. However, there are many problems with existing survey ships. Traditional single-hull survey ships have poor stability in complex water areas and sea conditions, and are easily affected by water flow, wind and waves, resulting in inaccurate survey data. Although the stability of some trimarans has been improved, they are huge in size, difficult to operate in narrow water areas or shallow beach areas, and inconvenient for transportation and storage. In addition, most survey ships have fixed structures and cannot be flexibly adjusted according to different survey tasks and water area conditions, and their functions are relatively single. In some remote areas or survey projects that require rapid deployment, existing survey ships are difficult to meet the requirements of rapid assembly and disassembly, increasing the operation cost and time.

[0003] To solve this problem, the prior art has adopted a folding and storage method to reduce space occupation. For example, the patent document with the patent publication number CN221585663U introduces a collapsible trimaran design, in which the main hull and the side hull are rotatably connected through their connection structures. However, the distance between the main hull and the side hull of the above trimaran design cannot be changed during navigation. When the trimaran crosses an area with diverse river widths, this fixed distance cannot be adjusted in time, making it difficult to achieve a balance between stability and flexibility. At the same time, the above trimaran needs to be manually adjusted for its folding condition, which not only consumes a lot of manpower, but also faces the problem of being unusable due to the difficulty of manual intervention during surveying work.

[0004] Therefore, it is of great practical significance to develop a detachable, automatically telescopic and multifunctional survey trimaran. Summary of the Invention

[0005] The purpose of the present invention is to provide a detachable telescopic survey trimaran, which, through a unique structural design, has the functions of being detachable and intelligently controlled for telescoping, facilitating transportation, storage, maintenance and operation in different water area environments. At the same time, it integrates a variety of advanced surveying equipment to meet diverse surveying needs, improve the efficiency and accuracy of surveying work, and solve the problems that existing trimarans are huge in size and difficult to store and carry, difficult to balance stability and flexibility during shipping, difficult to maintain individual components, and low in man-machine cooperation efficiency.

[0006] To achieve the above purpose, the present invention provides the following solutions:

[0007] A detachable telescopic surveying trimaran, comprising an adaptive intelligent adjustment system, a main hull, telescopic devices arranged on both sides of the main hull, and side hulls arranged on the telescopic devices. A cavity for accommodating the telescopic devices is arranged on the main hull, and the adaptive intelligent adjustment system is used to control the telescopic movement of the telescopic devices.

[0008] Preferably, the telescopic device includes two connecting brackets fixedly arranged in the cavity, a scissor - type connecting piece hinged to the connecting brackets, and an electro - hydraulic rod arranged on the scissor - type connecting piece. One end of the scissor - type connecting piece far from the connecting brackets is connected to the side hull.

[0009] Preferably, the scissor - type connecting piece includes multiple connecting rods cross - hinged by bolt structures. The shape of the connecting bracket is U - shaped, the open end of the connecting bracket faces the scissor - type connecting piece, threaded holes are arranged on the two arms of the connecting bracket. The connecting rods at the end of the scissor - type connecting piece extend into the connecting bracket and are hinged to the connecting bracket through the threaded holes. The two ends of the electro - hydraulic rod are respectively connected to the ends of the connecting rods at both ends of the scissor - type connecting piece.

[0010] Preferably, the cavity is arranged at the rear end part of the main hull.

[0011] Preferably, a lighting lamp is arranged at the front end of the main hull, and a camera, a signal transmitter, a solar panel and a signal receiver are arranged on the main hull.

[0012] Preferably, the adaptive intelligent adjustment system includes a first gyroscope arranged at the center of gravity of the main hull, a second gyroscope arranged at the front end of the side hull, and a data processing system. The first gyroscope and the second gyroscope real - time detect the angular velocities of the trimaran around the X, Y, and Z axes, calculate the tilt angle and swing amplitude of the hull in real - time. The adaptive intelligent adjustment system predicts the trend according to the rate of angle change and triggers the telescopic action in advance.

[0013] Preferably, the data of the first gyroscope and the second gyroscope are integrated by using the Kalman filter algorithm to eliminate the instantaneous jitter interference caused by wave impact and feedback the hull balance state.

[0014] Preferably, both the first gyroscope and the second gyroscope are three - axis MEMS gyroscopes;

[0015] Preferably, the calculation method of the tilt angle and swing amplitude of the hull is as follows:

[0016] When the three - axis MEMS gyroscope rotates around the Z - axis with an angular velocity ω z the Coriolis force generated by the mass block due to the vibration velocity V x is:

[0017] F c = 2m×(V x × ω z )

[0018] where m is the mass of the mass block. This force causes the mass block to displace by Δy in the Y-axis direction;

[0019] The three-axis MEMS gyroscope detects displacement through capacitance changes. The distance between the fixed electrode and the movable electrode changes, resulting in a change in the capacitance value;

[0020] The formula for calculating the capacitance change is:

[0021]

[0022] where ε0 is the vacuum permittivity, ε r is the relative permittivity of the medium, A is the plate area, and d is the initial plate spacing;

[0023] The capacitance change is converted into a voltage signal through a charge amplifier, and finally an electrical signal proportional to Δy is output; The output signal of the three-axis MEMS gyroscope contains the drive frequency f d and the frequency component caused by the Coriolis effect; Through synchronous demodulation, a DC signal proportional to ω z is extracted;

[0024] Its output voltage V out satisfies:

[0025] V out = k·ω z

[0026] where k is the sensitivity coefficient;

[0027] The three-axis MEMS gyroscope contains three independent mass block detection structures, corresponding to the rotation detection of the X, Y, and Z axes respectively; The change in the attitude angle of each axis is:

[0028]

[0029] where φ, θ, and ψ are the roll angle, pitch angle, and yaw angle respectively, and φ0 is the initial angle;

[0030] Simple integration will accumulate errors, and it is necessary to combine accelerometer data or Kalman filtering for correction to eliminate errors. Taking the roll angle as an example:

[0031] Accelerometer-assisted correction: When stationary, the projection of the gravitational acceleration in the body axis system is:

[0032]

[0033] By calculating φ and θ and fusing them with the gyroscope integration results;

[0034] Observation equation:

[0035]

[0036] The swing amplitude refers to the peak value of the attitude angle changing with time;

[0037] The swing amplitude of the roll angle is:

[0038] A φ = max(φ(t)) - min(φ(t))

[0039] Set the roll angle safety threshold φ max = 15°, and the flexible threshold φ flex = 5°; if φ ≥ φ max , then the side hull of the ship is in the extended state; if φ ≤ φ flex and the channel width < the outer extension width of the ship hull, then the side hull of the ship retracts;

[0040] Meanwhile, according to the angle change rate the trend can be predicted; if the first gyroscope fails, the system switches to the weighted average of the data of the two side hulls of the ship It can be manually locked when φ ≥ 30° or when there is a system failure;

[0041] By recording the angle data in real time and combining with the sliding window algorithm to statistically calculate the maximum and minimum values within the period. Statistically calculate the peak value of the angle data to quantify the hull swing amplitude.

[0042] The present invention has achieved the following technical effects compared with the prior art:

[0043] 1. The present invention adopts a modular bolt connection design, and components such as the main hull, side hulls, and scissor structures can be quickly and freely disassembled and assembled. The storage volume is reduced by 40%, improving the problems of its large volume and difficulty in storage and transportation. At the same time, the detachable and assembled design of each component improves the maintenance efficiency of the trimaran. The detachable structure design enables the trimaran to be disassembled into multiple independent units when not in use. The independent unit design is convenient for local maintenance, reduces the risk of the entire ship being scrapped, is convenient for transportation and storage, and reduces the transportation cost and storage space requirements.

[0044] 2. Through the retractable structure between the trimarans, when the side hulls are fully retracted, the overall width is reduced by more than 40%, enabling it to flexibly adapt to different waters. Combined with the bow lighting and wide-angle camera, it can accurately navigate and map in narrow waters with low light and many obstacles, expanding the operation range and reducing the mapping blind area. The retractable hull design allows it to be flexibly adjusted according to the width and depth of the water area. It can operate in narrow inland rivers and lakes, and can also sail stably in the open ocean, improving the utilization rate of the trimaran. When extended, it improves the stability of the trimaran through its roll damping effect, and when retracted, it can reflect the flexibility of a single-hull ship.

[0045] 3. Through the layout of three gyroscopes and the Kalman filtering algorithm in the present invention, the data of the center of gravity of the main hull and the front ends of the two side hulls are fused to eliminate the interference of instantaneous jitter and accurately feedback the hull attitude. In addition, the system has a fault tolerance mechanism: if the main gyroscope fails, it can switch to the average value control of the side hull data; in case of emergency, the position of the side hull can be manually locked to ensure basic safety under extreme sea conditions.

[0046] 4. The present invention integrates solar panels, wide-angle cameras, and signal transceivers on the main hull, supporting all-weather data collection and real-time transmission. It realizes multi-functional mapping, integrates a variety of advanced mapping devices, and can simultaneously perform various tasks such as underwater topographic mapping and hydrological monitoring, meeting the mapping needs of different fields and improving the comprehensive mapping efficiency.

[0047] 5. Through the scissor-type retractable structure + AI dynamic adjustment system, the present invention automatically controls the distance between the side hulls in real time according to the gyroscope data and sea condition information: in narrow waters, it retracts to a compact form (the overall width is only the width of the main hull) for flexible passage; in open waters, it extends to the maximum distance, and significantly improves the stability through the roll damping effect. It can seamlessly switch in complex waters without manual intervention, balancing mapping accuracy and operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0049] Figure 1 It is a schematic structural diagram of a detachable retractable mapping trimaran of the present invention;

[0050] Figure 2 It is a schematic structural diagram of the scissor-type connecting piece of the present invention;

[0051] Figure 3 It is a schematic structural diagram of the interior of the hull cavity of the present invention;

[0052] Figure 4 It is a schematic structural diagram of the installation position of the gyroscope inside the hull of the present invention;

[0053] Figure 5 It is a schematic structural diagram of the gyroscope inside the hull of the present invention;

[0054] Figure 6 It is a flow chart of the specific implementation scheme of the present invention;

[0055] In the figure: 1 - main hull; 2 - side hull; 3 - scissor link; 4 - lighting lamp; 5 - camera; 6 - signal transmitter; 7 - solar panel; 8 - signal receiver; 9 - first gyroscope; 10 - second gyroscope; 401 - connecting rod at both ends; 402 - connecting rod; 403 - electro-hydraulic rod; 404 - bolt structure; 405 - connecting rod; 501 - cavity; 502 - connecting bracket; 503 - threaded hole. Specific implementation manners

[0056] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0057] The purpose of the present invention is to provide a detachable and telescopic surveying and mapping trimaran, which, through a unique structural design, has the functions of being detachable and intelligently controlled for telescoping, facilitating transportation, storage, maintenance, and operation in different water environments. At the same time, it integrates a variety of advanced surveying and mapping devices to meet diverse surveying and mapping requirements, improve the efficiency and accuracy of surveying and mapping work, and solve the problems that the existing trimarans are bulky and difficult to store and carry, it is difficult to balance stability and flexibility during shipping, it is difficult to maintain individual components, and the man-machine collaboration efficiency is low.

[0058] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0059] Refer to Figures 1 to 3A detachable telescopic survey trimaran, comprising an adaptive intelligent adjustment system, a main hull, telescopic devices arranged on both sides of the main hull, and side hulls arranged on the telescopic devices. A cavity for accommodating the telescopic devices is arranged on the main hull, and the adaptive intelligent adjustment system is used to control the telescopic movement of the telescopic devices. The present invention adopts a modular bolt connection design, and components such as the main hull, side hulls, and scissor structures can be quickly and freely disassembled and assembled. The storage volume is reduced by 40%, improving the problems of its large volume and difficulty in storage and transportation. At the same time, the detachable design of each component improves the maintenance efficiency of the trimaran. The detachable structural design enables the trimaran to be disassembled into multiple independent units when not in use. The independent unit design facilitates local maintenance, reduces the risk of the entire ship being scrapped, is convenient for transportation and storage, and reduces the transportation cost and storage space requirements.

[0060] Reference Figure 2 , the telescopic device includes two connecting brackets fixedly arranged in the cavity, a scissor-type connecting piece hinged to the connecting brackets, and an electro-hydraulic rod arranged on the scissor-type connecting piece. One end of the scissor-type connecting piece far from the connecting bracket is connected to the side hull.

[0061] Reference Figure 3 , the shear-type connecting piece includes multiple connecting rods cross-hinged by bolt structures. The shape of the connecting bracket is U-shaped, the open end of the connecting bracket faces the shear-type connecting piece, threaded holes are arranged on the two arms of the connecting bracket, and the connecting rods at the end of the shear-type connecting piece extend into the connecting bracket and are hinged to the connecting bracket through the threaded holes. Both ends of the electro-hydraulic rod are connected to the ends of the connecting rods at both ends of the shear-type connecting piece.

[0062] The cavity is arranged at the rear end part of the main hull.

[0063] Reference Figure 1 , a lighting lamp is arranged at the front end of the main hull, and a camera, a signal transmitter, a solar panel, and a signal receiver are arranged on the main hull.

[0064] The adaptive intelligent adjustment system includes a first gyroscope arranged at the center of gravity of the main hull, a second gyroscope arranged at the front end of the side hull, and a data processing system. The first gyroscope and the second gyroscope real-time detect the angular velocities of the trimaran around the X, Y, and Z axes, calculate the tilt angle and swing amplitude of the hull in real time, and the adaptive intelligent adjustment system predicts the trend according to the angle change rate and triggers the telescopic action in advance.

[0065] The data of the first gyroscope and the second gyroscope are integrated by using the Kalman filtering algorithm to eliminate the instantaneous jitter interference caused by wave impact and feedback the hull balance state.

[0066] Both the first gyroscope and the second gyroscope are three-axis MEMS gyroscopes.

[0067] As Figure 2 shown, in a specific embodiment, when the electro-hydraulic rod is in the retracted state, it drives the two connecting rods 401 and 405 connected to the electro-hydraulic rod 403 in the scissor-type connecting member 3 to move closer to the inside. The remaining connecting rods 402 in the scissor-type connecting member 3 are driven to change through the bolt structure 404 between the connecting rods due to the changes in the hydraulic rods at both ends until all the connecting rods are in a parallel state. At this time, the two side hulls 2 are completely retracted into the cavity 501; when the electro-hydraulic rod 403 is in the extended state, the electro-hydraulic rod 403 drives the two connecting rods in the scissor structure 3 to move away from each other. At this time, the intermediate connecting rods are restricted by the bolt structures 404 at both ends to rotate, so that the side hulls 2 are completely extended to the farthest distance from the main hull 1.

[0068] As Figure 3 shown, a fixed connection bracket 502 integrated with the hull is provided on the inner wall of the hull cavity 501. The scissor structure 3 and the connection bracket 502 are installed and connected by a bolt structure 503, dividing the trimaran into five independent elements, which is convenient for loading, unloading and maintenance.

[0069] As Figure 4 shown, the installation positions of the three gyroscopes are respectively located at the center of gravity of the main hull 1 and the front parts of the two side hulls 2. The significance is that the three-axis MEMS gyroscope is installed at the center of the bottom of the hull, close to the actual center of gravity, which can monitor the overall balance state; an auxiliary gyroscope is installed at the front end of each of the two side hulls 2 to assist in calibrating the attitude of the main hull 1 and avoid measurement deviations caused by uneven unilateral load.

[0070] As Figure 5 shown, the figure shows a MEMS gyroscope. The MEMS gyroscope can accurately measure the tilt angle and swing amplitude of the hull and provide real-time attitude data for the adaptive adjustment system.

[0071] When the gyroscope rotates around the Z-axis with an angular velocity ω z , the Coriolis force generated by the mass block due to the vibration velocity V x is:

[0072] F c = 2m×(V x ×ω z )

[0073] where m is the mass of the mass block. This force causes the mass block to displace in the Y-axis direction by Δy.

[0074] The MEMS gyroscope 910 detects the displacement through the change in capacitance. The distance between the fixed electrode and the movable electrode changes, resulting in a change in the capacitance value.

[0075] According to an embodiment of the present invention, the formula for calculating the capacitance value change is:

[0076]

[0077] where ε0 is the vacuum permittivity, ε r is the relative permittivity of the dielectric, A is the plate area, and d is the initial plate spacing.

[0078] The capacitance change is converted into a voltage signal through a charge amplifier, and finally an electrical signal proportional to Δy is output. The gyroscope output signal contains the driving frequency f d and the frequency component caused by the Coriolis effect. Through synchronous demodulation (multiplying by the driving signal and filtering), a DC signal proportional to ω z is extracted.

[0079] Its output voltage V out satisfies:

[0080] V out = k·ω z

[0081] where k is the sensitivity coefficient.

[0082] The three-axis MEMS gyroscope includes three independent mass block detection structures, corresponding to the rotation detections of the X, Y, and Z axes respectively. The change amount of the attitude angle of each axis is:

[0083]

[0084] where φ, θ, and ψ are the roll angle, pitch angle, and yaw angle respectively, and φ0 etc. are the initial angles.

[0085] Simple integration will accumulate errors (such as zero bias and noise), and it is necessary to combine accelerometer data or Kalman filtering for correction to eliminate errors. Taking the roll angle as an example:

[0086] Accelerometer-assisted correction: When stationary, the projection of the gravitational acceleration in the body axis system is:

[0087]

[0088] By solving φ and θ and fusing with the gyroscope integration result.

[0089] Observation equation:

[0090]

[0091] The swing amplitude usually refers to the peak value of the attitude angle changing with time. For example, the swing amplitude of the roll angle is:

[0092] A φ= max(φ(t)) - min(φ(t))

[0093] Set the roll angle safety threshold φ max = 15°, and the flexible threshold φ flex = 5°. If φ ≥ φ max , then the side hull 2 is in the extended state; if φ ≤ φ flex and the channel width < the outer extension width of the hull, then the side hull 2 retracts.

[0094] Meanwhile, according to the angle change rate the trend can be predicted. If the main gyroscope 9 fails, the system switches to the weighted mean of the data of the two side hulls 2 It can be manually locked when φ ≥ 30° or when there is a system failure.

[0095] By recording the angle data in real time and combining with the sliding window algorithm, the maximum and minimum values within the period are statistically calculated. The peak value of the angle data is statistically calculated to quantify the hull swing amplitude.

[0096] Furthermore, each component of the trimaran is an independent unit, and the advantages of portability can be achieved through assembly and disassembly. At the same time, the maintenance efficiency of the trimaran is also improved.

[0097] Furthermore, the adaptive intelligent adjustment system used by the trimaran can achieve dynamic response. The controller predicts the trend according to the angle change rate (dφ / dt) and triggers the telescopic action in advance.

[0098] Furthermore, the adaptive intelligent adjustment system adopts redundant sensors (main + auxiliary gyroscopes) and filtering algorithms to ensure data reliability and greatly improve its anti-interference ability.

[0099] Furthermore, the adaptive intelligent adjustment system has a fault tolerance mechanism. If the main ship gyroscope sensing data system fails, the system switches to the data mean of the two side hulls as the main input. In case of emergency, the position of the side hull can be manually locked to ensure basic safety.

[0100] In the present invention, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A detachable and telescopic surveying and mapping trimaran, characterized in that, It includes an adaptive intelligent adjustment system, a main hull, telescopic devices arranged on both sides of the main hull, and side hulls arranged on the telescopic devices. A cavity for accommodating the telescopic devices is arranged on the main hull, and the adaptive intelligent adjustment system is used to control the telescopic movement of the telescopic devices.

2. The detachable telescopic surveying trimaran according to claim 1, wherein, The telescopic device includes two connecting brackets fixedly arranged in the cavity, a scissor-type connecting piece hinged to the connecting brackets, and an electro-hydraulic rod arranged on the scissor-type connecting piece. One end of the scissor-type connecting piece far from the connecting brackets is connected to the side hull.

3. The detachable telescopic surveying trimaran according to claim 2, characterized in that, The shear-type connecting piece includes multiple connecting rods cross-hinged through bolt structures. The shape of the connecting bracket is U-shaped, the open end of the connecting bracket faces the shear-type connecting piece, threaded holes are arranged on the two arms of the connecting bracket, the connecting rods at the end of the shear-type connecting piece extend into the connecting bracket and are hinged to the connecting bracket through the threaded holes, and the two ends of the electro-hydraulic rod are respectively connected to the ends of the connecting rods at both ends of the shear-type connecting piece.

4. The detachable telescopic surveying trimaran according to claim 1, wherein, The cavity is arranged at the rear end part of the main hull.

5. The detachable telescopic surveying trimaran according to claim 1, characterized in that, A lighting lamp is arranged at the front end of the main hull, and a camera, a signal transmitter, a solar panel and a signal receiver are arranged on the main hull.

6. The detachable telescopic surveying trimaran according to claim 1, characterized in that, The adaptive intelligent adjustment system includes a first gyroscope arranged at the center of gravity of the main hull, a second gyroscope arranged at the front end of the side hull, and a data processing system. The first gyroscope and the second gyroscope real-time detect the angular velocities of the trimaran around the X, Y, and Z axes, calculate the inclination angle and swing amplitude of the hull in real time, and the adaptive intelligent adjustment system predicts the trend according to the angle change rate and triggers the telescopic action in advance.

7. The detachable telescopic surveying trimaran according to claim 6, characterized in that, The data of the first gyroscope and the second gyroscope are integrated by using the Kalman filter algorithm to eliminate the instantaneous jitter interference caused by wave impact and feedback the hull balance state.

8. The detachable telescopic survey three-body ship according to claim 6, characterized in that, Both the first gyroscope and the second gyroscope are three-axis MEMS gyroscopes.

9. The detachable telescopic survey trimaran according to claim 7, wherein The calculation method of the inclination angle and swing amplitude of the hull is as follows: When the three-axis MEMS gyroscope rotates around the Z-axis at an angular velocity ω z the mass block generates a Coriolis force due to the vibration velocity V x as follows: F c = 2m×(V x ×ω z ) Where m is the mass of the mass block. This force causes the mass block to generate a displacement Δy in the Y-axis direction; The three-axis MEMS gyroscope detects the displacement through capacitance change. The distance between the fixed electrode and the movable electrode changes, resulting in a change in the capacitance value; The formula for calculating the capacitance value change is: where ε0 is the permittivity of free space, ε r is the relative permittivity of the dielectric, A is the plate area, and d is the initial plate spacing; The capacitance change is converted into a voltage signal by a charge amplifier, and finally an electrical signal proportional to Δy is output; the output signal of the three-axis MEMS gyroscope contains the driving frequency f d and the frequency components caused by the Coriolis effect; through synchronous demodulation, a DC signal proportional to ω z is extracted; Its output voltage V out Satisfies: V out = k·ω z Where k is the sensitivity coefficient; The three-axis MEMS gyroscope includes three independent mass block detection structures, which respectively correspond to the rotation detection of the X, Y, and Z axes; the attitude angle change amount of each axis is: Where φ, θ, and ψ are the roll angle, pitch angle, and yaw angle respectively, and φ0 is the initial angle; Simple integration will accumulate errors, and it is necessary to combine accelerometer data or Kalman filter for correction to eliminate errors. Taking the roll angle as an example: Accelerometer-assisted correction: When stationary, the projection of the gravitational acceleration in the body axis system is: By solving φ and θ and fusing with the integral result of the gyroscope; Observation equation: The swing amplitude refers to the peak value of the attitude angle changing with time; The swing amplitude of the roll angle is: A φ = max(φ(t)) - min(φ(t)) Set the roll angle safety threshold φ max = 15°, and the flexible threshold φ flex = 5°; If φ ≥ φ max , then the side hull ship is in the extended state; If φ ≤ φ flex and the channel width < the outer extension width of the hull, then the side hull ship retracts; Meanwhile, according to the angular rate of change the trend can be predicted; if the first gyroscope fails, the system switches to the weighted mean of the data of the two side hulls It can be manually locked when φ≥30° or when there is a system failure; By recording angle data in real time and combining with the sliding window algorithm to count the maximum and minimum values within a period. Count the peak values of the angle data to quantify the swing amplitude of the hull.

Images