An electrostatic monitor data acquisition and system error analysis system

Abstract

The present application relates to a kind of based on electrostatic monitor data acquisition and system error analysis system, constructs including data receiving module, error calculation module and man-machine interaction module error analysis system, error calculation module passes through calculating latitude error and longitude error;Establish latitude error and longitude error model of electrostatic gyro monitor;Establish gyro drift error model of electrostatic gyro monitor;Establish latitude error, heading error and polar gyro drift error model of electrostatic gyro monitor, and latitude error and longitude error are brought in, obtain compensation value and compensation method.The present application solves the problem of correcting latitude error and longitude error, heading error under the mode of offshore work, and effectively suppresses the divergence trend of longitude error, and has practicality in engineering application.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of inertial navigation, and particularly relates to a data acquisition and system error analysis system based on an electrostatic monitor. BACKGROUND

[0002] In recent years, with the continuous deepening of actual combat training under the conditions of far sea combat, higher requirements have been put forward for the precision of boat equipment, and the work of improving the performance of nuclear submarines has been highly valued. Nuclear submarines are applied to underwater environment, have strong concealment, have small probability of receiving external information, and have high difficulty in error calibration, so the demand for long-time high-precision use of navigation equipment is increasingly urgent. At present, navigation equipment presents the characteristics of diversification, how to master the error characteristic law of equipment under long-time conditions, and provide technical support for war readiness cruise and missile launch tasks is an urgent demand under actual combat conditions.

[0003] The electrostatic monitor has strong navigation regularity, the latitude error does not diverge under long-time conditions, presents a zero-crossing oscillation law, the oscillation period is 24 hours, and the amplitude is not more than 1'; the longitude error has a trend term divergence, accumulates with navigation time, the divergence slope basically remains unchanged every day, and the final positioning accuracy is mainly affected by the longitude trend term divergence, and the actual positioning accuracy can be approximately calculated by multiplying the longitude trend term divergence value every day by the navigation days. By using the strong divergence regularity of the navigation error of the electrostatic navigator, the divergence value of the trend term and the oscillation term of the positioning error every day obtained by analysis at the wharf can be used to estimate the divergence amount of the positioning error every day at sea, so that the ship position reference value is calculated. The above solution method only exists in imagination, and the current technology has not appeared. SUMMARY

[0004] The present application aims at overcoming the deficiencies of the prior art, and provides a data acquisition and system error analysis system based on an electrostatic monitor, which uses the error characteristic law of the electrostatic monitor, establishes an error model and an error compensation model, and performs real-time online error analysis and compensation in the system.

[0005] The present application solves the technical problem by adopting the following technical scheme:

[0006] A data acquisition and system error analysis system based on an electrostatic monitor, comprising a data receiving module, an error calculation module and a man-machine interaction module, the data receiving module is connected with the error calculation module to input the received data to the error calculation module, and the man-machine interaction module is used to add parameters in the error calculation module.

[0007] Moreover, the data receiving module receives the latitude and longitude and heading system values of the electrostatic monitor from the electrostatic monitor through a network interface or a serial interface.

[0008] Moreover, the calculation process of the error calculation module comprises the following steps:

[0009] Step 1, according to the data received by the data receiving module, calculate the latitude error and longitude error;

[0010] Step 2, establish the latitude and longitude error model of the electrostatic gyro monitor;

[0011] Step 3, establish the gyro drift error model of the electrostatic gyro monitor;

[0012] Step 4, according to the models established in steps 2 and 3, establish the latitude error, heading error and polar gyro drift error model of the electrostatic gyro monitor, and bring in the latitude error and longitude error of step 1 to obtain the compensation value and compensation method.

[0013] Moreover, the specific implementation method of step 1 is:

[0014]

[0015] Among them, is the latitude error, and Δλ is the longitude error, is the latitude value received by the electrostatic monitor; λ r is the longitude value received by the electrostatic monitor; is the wharf latitude reference value of the electrostatic monitor; λ0 is the wharf longitude reference value of the electrostatic monitor.

[0016] Moreover, the specific implementation method of step 2 is:

[0017]

[0018] Among them, Δλ is the longitude error; is the latitude error; M is the divergence amount of longitude error per day; T is the navigation day; N λ is the longitude error oscillation value at a fixed time per day; is the latitude error oscillation value at a fixed time per day.

[0019] Moreover, the specific implementation method of step 3 is:

[0020]

[0021] Among them, ω xi is the gyro drift along the x direction; ω zi is the gyro drift along the z direction; m 0i , n 0i , n 1i and n 2i are gyro drift model parameters, i=1, 2, wherein i=1 is applicable to polar axis gyro, and i=2 is applicable to equatorial gyro.

[0022] Moreover, the specific implementation method of step 4 is:

[0023]

[0024]

[0025] wherein, is the latitude error; ΔK is the heading error; A and a are the amplitude and phase of the initial error respectively, Ω is the earth rotation angular velocity, the latitude error and ΔK have the same amplitude and a phase difference of π / 2, and the following is obtained:

[0026]

[0027] wherein, is the amplitude of the heading error; is the amplitude of the latitude error, since the latitude error and the heading error divergence trend items are regularly divergent with a period of 24 hours, the amplitude of the heading error and the amplitude of the latitude error are obtained by the latitude error and the longitude error to compensate the initial value:

[0028] The current wharf latitude and longitude values are input, the latitude error value is calculated, and the navigation time length is recorded as T, when the reference position information is received, the latitude error and the longitude error are calculated, and it is judged whether the recording time when the reference position information is received exceeds the threshold value, if the recording time length is less than 24 hours, no compensation is performed; if the recording time length is greater than 24 hours but less than 48 hours, only the initial value is compensated when the compensation is performed, and the slope compensation is not performed; if the recording time length is greater than 48 hours, the slope and the initial value are compensated.

[0029] Moreover, the man-machine interaction module can manually add the ship position value after the ship leaves the wharf, and automatically add the added ship position value to the error calculation module for calculation.

[0030] The advantages and positive effects of the present application are:

[0031] The present application constructs an error analysis system including a data receiving module, an error calculation module and a man-machine interaction module, the error calculation module calculates the latitude error and the longitude error; an electrostatic gyro monitor latitude and longitude error model is established; an electrostatic gyro monitor gyro drift error model is established; an electrostatic gyro monitor latitude error, heading error and polar gyro drift error model is established, and the latitude error and the longitude error are brought in to obtain the compensation value and the compensation method. The present application solves the problem of correcting the latitude and longitude error and the heading error in the sea working mode, effectively suppresses the longitude error divergence trend, and has practicality in engineering application. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1The static electricity monitor 72-hour navigation regularity curve chart;

[0033] Figure 2 The system workflow chart of the present application;

[0034] Figure 3 The system working interface chart of the present application. DETAILED DESCRIPTION

[0035] The present application is further described below in combination with the drawings.

[0036] A static electricity monitor data acquisition and system error analysis system, comprising a data receiving module, an error calculation module and a man-machine interaction module, the data receiving module connects the error calculation module to input the received data to the error calculation module, and the man-machine interaction module is used for adding parameters in the error calculation module. The system has functions of latitude and longitude and heading error storage record, error data loading cache, real-time compensation of system value, performance comparison of other navigation equipment system value recording, marine system value calibration of bound probable position and error curve drawing.

[0037] The data receiving module receives the latitude and longitude and heading system value of the static electricity monitor through the network interface or the serial interface. The data receiving module is programmed and debugged according to the network interface protocol and the serial interface protocol, including API document analysis, interface list combing and interface test script programming and other steps.

[0038] The calculation process of the error calculation module includes the following steps:

[0039] Step 1, according to the data received by the data receiving module, the latitude error and the longitude error are calculated.

[0040]

[0041] Wherein, is the latitude error, and Δλ is the longitude error, is the latitude value received by the static electricity monitor; λ r is the longitude value received by the static electricity monitor; is the wharf latitude reference value of the static electricity monitor; λ0 is the wharf longitude reference value of the static electricity monitor.

[0042] Step 2, the latitude and longitude error model of the static electricity gyro monitor is established.

[0043]

[0044] Wherein, Δλ is the longitude error; is the latitude error; M is the longitude error divergence per day; T is the navigation day; N λ is the longitude error oscillation value at a fixed time per day; This represents the latitude error oscillation value at fixed times each day. By using the dock's reference location information, the latitude and longitude error divergence trend term is obtained, enabling error correction of the navigation data.

[0045] Step 3: Establish a gyroscope drift error model for the electrostatic gyroscope monitor.

[0046]

[0047] Where, ω xi ω is the drift of the gyroscope along the x-axis; zi m is the drift of the gyroscope along the z-axis. 0i n 0i n 1i and n 2i These are the parameters for the gyroscope drift model. This model is a drift error model that can be identified when the electrostatic gyroscope is initially oriented to the local horizontal coordinate system, and it is applicable to polar-axis gyroscopes and equatorial gyroscopes. i = 1, 2, where i = 1 is applicable to polar-axis gyroscopes, and i = 2 is applicable to equatorial gyroscopes.

[0048] Step 4: Based on the models established in Steps 2 and 3, establish models for the latitude error, heading error, and polar gyroscope drift error of the electrostatic gyroscope monitor. Simultaneously, substitute the latitude error and longitude error from Step 1 to obtain compensation values ​​and compensation methods.

[0049] Based on the gyroscope drift error model of the electrostatic gyroscope monitor, polar gyroscope drift mainly affects latitude and heading errors. Equatorial gyroscope drift mainly affects longitude error divergence. Therefore, based on the relationship between polar gyroscope error drift and latitude and heading errors, and the relationship between equatorial gyroscope drift and longitude error divergence, a model is established for the latitude error, heading error, and polar gyroscope drift error of the electrostatic gyroscope monitor:

[0050]

[0051] After 48 hours of initial calibration, the electrostatic monitor can accurately calculate and compensate for the drift model coefficients. Because the electrostatic gyroscope monitor has a small latitude and longitude error model A (residual error) and good long-term stability with a very small drift rate, the error of its drift model coefficients after compensation is generally below the order of 10⁻⁴° / h. Based on the gyroscope drift error model of the electrostatic gyroscope monitor and the latitude error, heading error, and polar gyroscope drift error models of the electrostatic gyroscope monitor, 10⁻⁴° / h can be obtained. -4 Δn on the order of ° / h 11 and Δm 01 Caused and Since the value is better than 2″, the drift model coefficient Δn can be ignored when evaluating the heading accuracy of an electrostatic gyroscope using the above relationship. 11Δm 01 The influence of latitude error, heading error, and polar gyroscope drift error of the electrostatic gyroscope monitor is simplified to:

[0052]

[0053]

[0054] in, ΔK is the latitude error; ΔK is the heading error; A and a are the magnitude and phase of the initial error, respectively; Ω is the Earth's rotation angular velocity; latitude error With ΔK The amplitudes are equal, and the phase difference is π / 2. For example... Figure 1 As shown, the divergence trends of latitude and heading errors exhibit a regular divergence with a 24-hour period, and this regularity can be used to compensate for subsequent voyages. Compensation for the periodic error terms can significantly improve the accuracy of longitude, latitude, and heading errors, thus yielding:

[0055]

[0056] in, This represents the heading error magnitude. This represents the latitude error amplitude. The compensation method is as follows: initial value compensation is performed by obtaining the heading error amplitude and latitude error amplitude through latitude and longitude errors.

[0057] Input the current latitude and longitude values ​​of the dock, calculate the latitude error value, and record the navigation time as T. When the reference position information is received, calculate the latitude error and longitude error, and determine whether the recording time when the reference position information is received exceeds the threshold. If the recording time is less than 24 hours, no compensation is performed. If the recording time is greater than 24 hours but less than 48 hours, only the initial value is compensated, and the slope is not compensated. If the recording time is greater than 48 hours, both slope and initial value compensation are performed.

[0058] After the ship leaves the dock, the human-computer interaction module allows users to manually add contingent ship position values, which are then automatically added to the error calculation module in real time. In practical use, system values ​​from other electrostatic and laser navigation systems can be added, and real-time graphs can be generated to facilitate comparison of the accuracy characteristics of different devices.

[0059] The system also features "Load Cache" and "Direct Start" functions. If you need data from the last system launch, click "Load Cache" to restore the data. Clicking "Direct Start" will clear the cached data from the last system launch and restart the error acquisition process.

[0060] like Figure 2 and Figure 3The working process of the system is shown as follows:

[0061] First, the latitude and longitude of the wharf are bound, then "load cache data" or "direct start" is selected, the system will record the system value and estimate the error. After 24 hours or 48 hours of recording, the device can leave the wharf, and "sea start" is clicked when leaving the wharf. After the mode is started, the device will output the compensation value close to the true value after error estimation compensation by using the embedded error calculation module. In the sea mode, the probable ship position can be bound to further improve the reliability of the estimated value. And the system will output the error curve in real time, which is convenient for users to directly observe whether the error change curve presents corresponding regularity.

[0062] It should be emphasized that the embodiments described in the present application are illustrative rather than restrictive, and therefore the present application includes but is not limited to the embodiments described in the specific embodiments. Any other embodiments derived by those skilled in the art according to the technical solutions of the present application also belong to the scope of protection of the present application.

Claims

1. A system for data acquisition and system error analysis based on electrostatic monitoring devices, characterized in that: It includes a data receiving module, an error calculation module, and a human-computer interaction module. The data receiving module is connected to the error calculation module and inputs the received data into the error calculation module. The human-computer interaction module is used to add parameters in the error calculation module. The data receiving module receives the latitude, longitude, and heading system values ​​of the electrostatic monitor from the electrostatic monitor via a network interface or a serial interface. The calculation process of the error calculation module includes the following steps: Step 1: Calculate the latitude and longitude errors based on the data received by the data receiving module. Step 2: Establish a latitude and longitude error model for the electrostatic gyroscope monitor; Step 3: Establish a gyroscope drift error model for the electrostatic gyroscope monitor; The specific implementation method of step 3 is as follows: Where, ω xi ω is the drift of the gyroscope along the x-axis; zi m is the drift of the gyroscope along the z-axis. 0i n 0i n 1i and n 2i These are the parameters for the gyroscope drift model, i = 1 and 2, where i = 1 is applicable to polar gyroscopes and i = 2 is applicable to equatorial gyroscopes; Step 4: Based on the models established in Step 2 and Step 3, establish models for the latitude error, heading error, and polar gyroscope drift error of the electrostatic gyroscope monitor. At the same time, substitute the latitude error and longitude error from Step 1 to obtain the compensation values ​​and compensation methods. The specific implementation method for step 4 is as follows: in, ΔK is the latitude error; ΔK is the heading error; A and a are the magnitude and phase of the initial error, respectively; Ω is the Earth's rotation angular velocity; latitude error and With equal amplitudes and a phase difference of π / 2, we get: in, This represents the heading error magnitude. The latitude error amplitude is used because the divergence trend terms of latitude error and heading error exhibit a regular divergence with a 24-hour period. Initial value compensation is performed using the heading error amplitude and latitude error amplitude obtained from the latitude error and longitude error. Input the current latitude and longitude values ​​of the dock, calculate the latitude error value, and record the navigation time as T. When the reference position information is received, calculate the latitude error and longitude error, and determine whether the recording time when the reference position information is received exceeds the threshold. If the recording time is less than 24 hours, no compensation is performed. If the recording time is greater than 24 hours but less than 48 hours, only the initial value is compensated, and the slope is not compensated. If the recording time is greater than 48 hours, both slope and initial value compensation are performed.

2. The system for data acquisition and system error analysis based on electrostatic monitoring devices according to claim 1, characterized in that: The specific implementation method of step 1 is as follows: in, Δλ represents latitude error, and Δλ represents longitude error. λ is the latitude value received by the electrostatic monitor. r The longitude value received by the electrostatic monitoring device; λ0 is the latitude reference value of the electrostatic monitoring terminal; λ0 is the longitude reference value of the electrostatic monitoring terminal.

3. The system for data acquisition and system error analysis based on electrostatic monitoring devices according to claim 1, characterized in that: The specific implementation method of step 2 is as follows: Where Δλ is the longitude error; M is the latitude error; T is the daily divergence of the longitude error; N is the navigation days; λ This represents the longitude error oscillation value at a fixed time each day. This represents the latitude error oscillation value at a fixed time each day.

4. The system for data acquisition and system error analysis based on electrostatic monitoring devices according to claim 1, characterized in that: After the ship leaves the dock, the human-computer interaction module can manually add a probabilistic ship position value and automatically add the added ship position value to the error calculation module in real time for calculation.

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