Fault detection method of hull deformation measurement based on inertial measurement without image optics assistance

Abstract

The present invention provides a method for detecting hull deformation faults using an inertial-based measurement system without image optical assistance, comprising the following steps: S1: predicting optical aiming point position information; S11: establishing an observation vector for the imageless optical aiming system; S12: describing the time-varying direction cosine matrix of the hull deformation angle; S13: establishing the time-varying observation vector of the imageless optical aiming system; S2: obtaining the actual optical aiming point position; S21: introducing speckle modulation of a Fourier basis into the imageless optical aiming system; S22: obtaining detection values ​​after Fourier basis speckle modulation; S23: calculating Fourier coefficients from the Fourier basis speckle modulation detection values; S24: obtaining optical aiming point position information in the imageless optical aiming system; and S3: determining the fault point based on the predicted optical aiming point position information and the actual optical aiming point position. This method can calculate the two-dimensional coordinates of the target light point without generating a complete image, enabling efficient and accurate real-time fault diagnosis of the hull deformation inertial matching system by the optical diagnostic system.

Description

Technical Field

[0001] The present invention relates to the field of fault detection, and in particular to an inertial-based hull deformation measurement fault detection method without image optics assistance. Background Art

[0002] The combat performance of modern ships relies on the high-precision coordination of subsystems such as close-in weapon systems (CIWS), air defense missiles, and deep-sea torpedoes. Therefore, establishing a continuous, unified spatial reference is essential for long-duration missions. Ship hulls are not rigid bodies. Due to structural aging and uneven sunlight exposure, they deform over time. This deformation severely limits the accuracy of the unified spatial reference. Inertial matching methods, with their advantages of good continuity, high concealment, and easy installation, have led to their widespread application in hull deformation measurement. This hull deformation inertial matching measurement method uses two inertial navigation systems, one mounted near the main heading attitude system and the other near the point to be measured. By establishing a measurement model and comparing the information difference between the two inertial navigation systems, inertial matching measurement of hull deformation is achieved. However, due to the severe impacts experienced during ship missions, impacts near the inertial navigation system can cause the vibration damping system to fail. This inertial navigation system then generates a short-term shock oscillation signal, which can cause a long-term error in the inertial matching measurement of hull deformation. Therefore, it is necessary to design an auxiliary system to detect the fault so that when the fault occurs, the system can be fed back to the inertial matching system for correction. Summary of the Invention

[0003] To address the shortcomings of the aforementioned prior art, the present invention aims to provide a method for detecting faults in inertial-based hull deformation measurement without the aid of image optics. This method, based on Fourier single-pixel imaging, employs an image-free target localization method. This method generates spatial light modulation information using a Fourier base and extracts specific Fourier coefficients. This method can calculate the two-dimensional coordinates of the target light point without generating a complete image, thereby enabling efficient and accurate real-time fault diagnosis of the hull deformation inertial matching system using an optical diagnostic system.

[0004] Specifically, the present invention provides a method for detecting faults by inertial-based hull deformation measurement without image optical assistance, which comprises the following steps:

[0005] S1. Predicting optical aiming point information, specifically including the following sub-steps:

[0006] S11. Establish the observation vector of the image-free optical aiming system. The observation vector of the single-pixel imaging optical auxiliary system at time T0 is:

[0007]

[0008] in, are the coordinates of the light spot detected by the photodetector after reflection from the DMD, and f is the focal length of the lens;

[0009] S12, describe the direction cosine matrix of the hull deformation angle changing with time, and convert the direction cosine matrix corresponding to the hull deformation angle from T0 to T0+t Right now Expressed as:

[0010]

[0011] Among them, ω x ,ω y ,ω z are the observation vectors in the X-axis direction, Y-axis direction, and Z-axis direction, φ x ,φ y ,φ z are the hull deformation angles in the X-axis, Y-axis, and Z-axis directions, is the inertial matching measurement result of the hull deformation angle from T0 to T0+t;

[0012] S13. Based on steps S11 and S12, the observation vector change of the imageless optical aiming system over time is established. The observation vector change of the imageless optical aiming system from time T0 to time T0+t is expressed as:

[0013]

[0014] S14. Prediction of optical aiming point information based on the observation vector change over time of the image-free optical aiming system:

[0015] The measured coordinate point of the non-image optical aiming system is Inertial matching measurement results based on hull deformation angle Get the coordinate points of the optical aiming point information predicted by the image-free optical aiming system

[0016]

[0017] S2. Acquiring the actual optical aiming point in the image-free optical aiming system, specifically including the following sub-steps:

[0018] S21. Introducing Fourier-based speckle modulation in imageless optical aiming systems:

[0019] The speckle modulation function of the Fourier basis is expressed as:

[0020]

[0021] in, is the speckle modulation function of the Fourier basis, a is the DC term of the Fourier series, b is the contrast, and f x and fy are the frequency magnitudes of different dimensions, and φ is the phase;

[0022] S22. Obtain the detection value after Fourier base speckle modulation. The specific formula is as follows:

[0023]

[0024] T(x,y) is the target transmittance or reflectance function, B is the detection value corresponding to the projection speckle at different frequencies, dx and dy are the integrals in the X-axis and Y-axis directions respectively;

[0025] S23. Calculate the Fourier coefficients of the detection value after Fourier basis speckle modulation. The specific formula is as follows:

[0026]

[0027] B0, B 2π / 3 、B 4π / 3 are the detection values ​​corresponding to three projected speckles with the same spatial frequency and initial phases of [0, 2π / 3, 4π / 3], respectively. F(u, v) is the Fourier coefficient containing the optical aiming point information;

[0028] S24. Obtaining optical aiming point information in a non-image optical aiming system:

[0029] Perform Fourier basis projection on the horizontal and vertical directions of the Fourier coefficients containing the optical aiming point information, and take the peak value of the curve to obtain the centroid coordinates of the optical aiming point.

[0030] S3. Determine the fault point based on the predicted optical aiming point information and the actual optical aiming point information.

[0031] Preferably, step S14 specifically includes the following sub-steps:

[0032] S141. Theoretically, the optical aiming coordinates of the quantum correlation system at time T0+t are:

[0033]

[0034] S142. Perform Taylor expansion on the above equation at t=0:

[0035]

[0036] in, O x (t-t0) and O y (t-t0) are respectively high-order infinitesimals;

[0037] S143, record the measured coordinate point of the non-image optical aiming system as Inertial matching measurement results of hull deformation angle Substitute into the formula of step S142 to obtain the predicted coordinate point of the optical aiming system

[0038] Preferably, in step S22, the detection values ​​corresponding to the projected speckles of different frequencies are collected using a bucket detector.

[0039] Preferably, the image-free optical aiming system is a single-pixel imaging system.

[0040] Preferably, in step S24, the two-dimensional image is converted into a one-dimensional projection curve based on Fourier center slice theorem.

[0041] On the other hand, the present invention provides a detection system for the inertial base hull deformation measurement fault detection method, which includes an optical aiming point information prediction module, an actual optical aiming point acquisition module and a fault point judgment module. The optical aiming point information prediction module is used to predict optical aiming point information, the actual optical aiming point acquisition module is used to obtain actual optical aiming points in an image-free optical aiming system, and the fault point judgment module is used to determine the fault point based on the predicted optical aiming point information and the actual optical aiming point.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] (1) The present invention provides a method for detecting faults in inertial-based hull deformation measurement without image optical assistance, which can detect faults in inertial-based hull deformation measurement without image optical assistance.

[0044] (2) Currently, most imaging positioning technologies require the generation of an image before the target coordinates are located. However, the target light point coordinate information usually used to implement optical fault diagnosis of hull deformation only accounts for a small part of the image information. Therefore, the image-free strategy has a great efficiency advantage in the target positioning of the image. The method of the present invention is based on the image-free target positioning method of Fourier single-pixel imaging. It generates spatial light modulation information in the Fourier base and extracts specific Fourier coefficients. It can measure and obtain the two-dimensional coordinates of the target light point without generating a complete image, thereby realizing efficient and accurate real-time fault diagnosis of the hull deformation inertial matching system by the optical diagnostic system.

[0045] (3) The detection system provided by the present invention includes an optical aiming point information prediction module, an actual optical aiming point acquisition module and a fault point judgment module. The fault point judgment module can determine the fault point based on the predicted optical aiming point information and the actual optical aiming point judgment, thereby realizing efficient and accurate real-time fault diagnosis of the hull deformation inertia matching system. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1Schematic diagram of the method flow of the present invention;

[0047] Figure 2 This is a schematic diagram of the installation of the hull deformation inertial matching measurement equipment of the present invention;

[0048] Figure 3 Schematic diagram of the image-free optically assisted fault diagnosis system of the present invention;

[0049] Figure 4 The error curve of the impact vibration signal measured by the hull deformation inertial matching of the present invention;

[0050] Figure 5 Schematic diagram of image visualization of the image-free optically assisted fault diagnosis system of the present invention;

[0051] Figure 6 This is a comparison diagram between the predicted and actual optical aiming point positions of the image-free optically assisted fault diagnosis system of the present invention;

[0052] Figure 7 This is a diagram showing the fault diagnosis results of the inertial-based hull deformation measurement without image optical assistance according to the present invention;

[0053] Figure 8 This is a structural block diagram of the fault detection system of the present invention. DETAILED DESCRIPTION

[0054] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0055] The present invention provides a method for detecting faults in inertial-based hull deformation measurement without image optical assistance, such as Figure 1 As shown, it includes the following steps:

[0056] S1. Predicting optical aiming point information, specifically including the following sub-steps:

[0057] S11. Establish the observation vector of the image-free optical aiming system. The observation vector of the single-pixel imaging optical auxiliary system at time T0 is:

[0058]

[0059] in, are the coordinates of the light spot detected by the photodetector after reflection from the DMD, and f is the focal length of the lens; among them, the image-free optical aiming system is a single-pixel imaging system.

[0060] S12, describe the direction cosine matrix of the hull deformation angle changing with time, and convert the direction cosine matrix corresponding to the hull deformation angle from T0 to T0+t Right now Expressed as:

[0061]

[0062] Among them, ω x ,ω y ,ω z are the observation vectors in the X-axis direction, Y-axis direction, and Z-axis direction, φ x ,φ y ,φ z are the hull deformation angles in the X-axis, Y-axis, and Z-axis directions, is the inertial matching measurement result of the hull deformation angle from T0 to T0+t.

[0063] S13. Based on steps S11 and S12, the observation vector change of the imageless optical aiming system over time is established. The observation vector change of the imageless optical aiming system from time T0 to time T0+t is expressed as:

[0064]

[0065] S14. Prediction of optical aiming point information based on the observation vector change over time of the image-free optical aiming system:

[0066] The measured coordinate point of the non-image optical aiming system is Inertial matching measurement results based on hull deformation angle Get the coordinate points of the optical aiming point information predicted by the image-free optical aiming system

[0067]

[0068] Step S14 specifically includes the following sub-steps:

[0069] S141. Theoretically, the optical aiming coordinates of the quantum correlation system at time T0+t are:

[0070]

[0071] S142. Perform Taylor expansion on the above equation at t=0:

[0072]

[0073]

[0074] are respectively high-order infinitesimals;

[0075] S143, record the measured coordinate point of the non-image optical aiming system as Inertial matching measurement results of hull deformation angle Substitute into the formula of step S142 to obtain the predicted coordinate point of the optical aiming system

[0076] S2. Acquiring the actual optical aiming point in the image-free optical aiming system, specifically including the following sub-steps:

[0077] S21. Introducing Fourier-based speckle modulation in imageless optical aiming systems:

[0078] The speckle modulation function of the Fourier basis is expressed as:

[0079]

[0080] Where a is the DC term of the Fourier series, b is the contrast, and f is x and f y is the frequency size of different dimensions, φ is the phase;

[0081] S22. Obtain the detection value after Fourier base speckle modulation. The specific formula is as follows:

[0082]

[0083] T(x,y) is the target transmittance or reflectance function, B is the detection value corresponding to the projected speckle pattern at different frequencies, and dx and dy are the integrals along the X and Y axes, respectively. In this step, the detection values ​​corresponding to the projected speckle patterns at different frequencies are collected using a bucket detector.

[0084] S23. Calculate the Fourier coefficients of the detection value after Fourier basis speckle modulation. The specific formula is as follows:

[0085]

[0086] B0, B 2π / 3 、B 4π / 3 are the detection values ​​corresponding to three projected speckles with the same spatial frequency and initial phases of [0, 2π / 3, 4π / 3], respectively. F(u, v) is the Fourier coefficient containing the optical aiming point information;

[0087] S24. Obtaining optical aiming point information in a non-image optical aiming system:

[0088] Perform Fourier basis projection on the horizontal and vertical directions of the Fourier coefficients containing the optical aiming point information, and take the peak value of the curve to obtain the centroid coordinates of the optical aiming point.

[0089] S3. Determine the fault point based on the predicted optical aiming point information and the actual optical aiming point information.

[0090] On the other hand, the present invention provides a detection system for the above-mentioned inertial base hull deformation measurement fault detection method, such as Figure 8As shown, it includes an optical aiming point information prediction module 1, an actual optical aiming point acquisition module 2 and a fault point judgment module 3. The optical aiming point information prediction module 1 is used to predict the optical aiming point information, the actual optical aiming point acquisition module 2 is used to obtain the actual optical aiming point in the image-free optical aiming system, and the fault point judgment module 3 is used to determine the fault point based on the predicted optical aiming point information and the actual optical aiming point.

[0091] Preferably, in step S22, the detection values ​​corresponding to the projected speckles of different frequencies are collected using a bucket detector.

[0092] Preferably, the image-free optical aiming system is a single-pixel imaging system. Specific embodiments

[0094] Specifically, an embodiment of the present invention proposes a method for detecting hull deformation measurement faults without image optics assistance, which realizes real-time monitoring and feedback of impact and oscillation faults in inertial matching measurement of hull deformation.

[0095] During monitoring, two inertial measurement units (IMU1 and IMU2) are first installed near the ship's central attitude and heading system and the onboard equipment at the target point, and initial spatial and temporal alignment is performed. The ship's coordinate system OXYZ is defined, with the ship's center of mass as the origin. OX, OY, and OZ point toward the starboard side of the ship, the bow, and the deck vertically upward, respectively. The three axes form a rectangular coordinate system, and the deformation angles along these three axes are defined as the pitch angle, the torsion angle, and the bow angle, respectively.

[0096] The system state vector is defined as:

[0097]

[0098] Among them, φ st is the static deformation angle, φ dy is the dynamic deformation angle, is the initial deformation angle, θ is the attitude error angle, ε c is the IMU gyro constant drift, ε r is the random walk of the I MU gyroscope.

[0099] The state equation of the hull deformation inertial matching measurement method is:

[0100]

[0101] Among them, D dy and μ dy are the amplitude variance and irregularity coefficient of dynamic deformation, μ r The complexity of the irregularity of the gyroscope's random walk, Characterizes the discrete degree of gyroscope drift.

[0102] The measurement equation of the hull deformation inertia matching measurement method is:

[0103]

[0104] Among them, record I MU1 attitude output I MU2 attitude output

[0105]

[0106] The specific steps are as follows:

[0107] The observation vector of the single-pixel imaging optical auxiliary system at time T0 is:

[0108]

[0109] in, are the coordinates of the light spot detected by the photodetector after reflection from the DMD, and f is the focal length of the lens.

[0110] At this time, the direction cosine array corresponding to the hull deformation angle from T0 to T0+t Right now It can be expressed as:

[0111]

[0112] The vector change of the single-pixel imaging optical auxiliary system from time T0 to time T0+t can be expressed as:

[0113]

[0114] Theoretically, the optical aiming coordinates of the quantum correlation system at time T0+t are:

[0115]

[0116] Taylor expansion of the above equation at t = 0:

[0117]

[0118] in, O x (t-t0) and O y (t-t0) are respectively high-order infinitesimals.

[0119] Most imaging-based positioning technologies require image generation before determining the coordinates of the target. However, the coordinates of the target light spot typically used for optical fault diagnosis of hull deformation only account for a small portion of the image information. Therefore, image-free strategies offer significant efficiency advantages in image-based target positioning. Image-free target positioning methods based on Fourier single-pixel imaging generate spatial light modulation information in a Fourier basis and extract specific Fourier coefficients. This method can calculate the two-dimensional coordinates of the target light spot without generating a complete image, thereby enabling efficient and accurate real-time fault diagnosis of hull deformation inertial matching systems using optical diagnostic systems.

[0120] Imageless target positioning based on Fourier single-pixel imaging adopts an active mode, in which the light emitted by the optical aiming system is projected onto a digital micromirror device (DMD). The DMD's built-in optical switch controls the deflection of a large number of internal micromirrors, and uses the deflection angle to control whether to reflect or not, reaching the on-off state, thereby forming modulated structured light. The structured light contains the target light spot information of the optical aiming system and the modulated light information of the DMD itself, and is finally given to the bucket detector, which sends the signal to the host computer for solution to obtain the aiming light spot motion information of the optical aiming system.

[0121] The measured coordinate point of single pixel imaging is Inertial matching measurement results of hull deformation angle Substitute into the formula to get the predicted coordinates of the optical aiming system By subtracting the measured light spot coordinates from the predicted light spot coordinates and calculating their Euclidean distance value, a fault detection curve containing fault information characteristics can be obtained, thereby completing the inertial-based hull deformation measurement fault detection without image optical assistance.

[0122] The image-free optically assisted fault detection system based on single-pixel imaging uses near-infrared light with strong penetrating power to undergo Fourier speckle modulation at different phases. The reflected light is collected by a single-pixel detector to obtain the Fourier coefficients. The two-dimensional image is converted into a one-dimensional projection curve based on the Fourier center slice theorem, and the peak value of the projection curve is obtained by edge detection, thereby eliminating the step of reconstructing the image and accurately locating the coordinates of the optical aiming point.

[0123] The projected Fourier basis pattern intensity is expressed as:

[0124]

[0125] Where a is the DC term of the Fourier series, b is the contrast, and f is x and f y is the frequency size of different dimensions, and φ is the phase.

[0126] Let T(x,y) be the transmittance or reflectivity function of the target, and B be the light intensity value collected by the bucket detector corresponding to the projected speckle at different frequencies. Then the Fourier single-pixel imaging process expression is:

[0127]

[0128] The Fourier coefficients corresponding to the projection Fourier basis are calculated by the three-step phase shift method. This method has a low sampling rate and can ensure the real-time performance of the optical fault diagnosis system. The three Fourier basis patterns with the same spatial frequency and initial phases of [0, 2π / 3, 4π / 3] are D0, D 2π / 3 、D 4π / 3 , the target corresponding Fourier coefficient is calculated as:

[0129]

[0130] Perform the above Fourier basis projection on the horizontal and numerical directions respectively, and then take the curve peak of the obtained target Fourier coefficient to obtain the centroid coordinates of the optical diagnostic system light spot.

[0131] The inertial-based hull deformation measurement for the simulation experiment was set up at 118.0977° east longitude and 24.4390° north latitude. The hull motion excitation was simulated by sinusoidal motion in three axes, and the hull motion swing amplitude was [4°, 5°, 3°] T ; Hull motion swing period T i =[8s,7s,6s] T ,ω i =2π / T i ; Initial phase of hull motion The gyro accuracy of the inertial measurement unit is set to 0.002° / h (1σ), and the sampling frequency is set to 200Hz. The static deformation angle is set to a slow-changing "quasi-static" model. As can be seen from the reason for the "quasi-static" model, the static deformation angle exhibits a long-term slow-changing characteristic. It is simulated with a relatively long-period sinusoidal signal, with a period of 2 hours and an amplitude of 0.1°. The dynamic deformation angle is set to a Gaussian white noise driven second-order Markov model. IMU1 and I MU2 are installed as follows Figure 3 shown.

[0132] The optically assisted detection system used in the simulation experiment takes an optical aiming system with a light spot diameter of 11 pixels and a halo diameter of 32 pixels as an example. The structured light modulator is a DMD with a single pixel size of 13.68 microns. The optical aiming system signal is detected by a barrel detector and then sent to a host computer with an Intel(R) Core(TM) Ultra 7155H processor to calculate the single-pixel imaging system light spot coordinate positioning results. The optical aiming system schematic is shown in the figure below. Figure 2As shown, the image visualization diagram of the image-free optical auxiliary fault diagnosis system of the present invention is as follows Figure 5 shown.

[0133] The simulation results can be found in Figure 4 、 Figure 6 、 Figure 7 . Figure 4 In the figure, before the fault point appears, the error curve of the hull deformation estimation is relatively stable. After the impact and vibration fault occurs, the error curve of the inertia matching method shows a large error. Figure 6 The measured optical aiming points and the predicted optical aiming points containing inertial device fault information are displayed. It can be clearly seen that there is a large difference between the two at the fault point. Therefore, inertial-based hull deformation measurement fault diagnosis without image optical assistance can be effectively performed. Figure 7 The Euclidean distance calculation results between the measured optical aiming point and the predicted optical aiming point containing inertial device fault information are displayed more intuitively, which shows the effectiveness of this method in the application of inertial-based hull deformation measurement fault diagnosis without image optical assistance.

[0134] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A method for fault detection of ship deformation measurement based on inertial measurement without image optics assistance, characterized by: It includes the following steps: S1. Predicting optical aiming point information, specifically including the following sub-steps: S11. Establish the observation vector of the image-free optical aiming system. The observation vector of the single-pixel imaging optical auxiliary system at time T0 is: in, are the coordinates of the light spot detected by the photodetector after reflection from the DMD, f is the focal length of the lens, ω s (T0) is the observation vector of the single-pixel imaging optical auxiliary system at time T0; S12, describe the direction cosine matrix of the hull deformation angle changing with time, and convert the direction cosine matrix corresponding to the hull deformation angle from T0 to T0+t Right now Expressed as: Among them, ω x ,ω y ,ω z are the observation vectors in the X-axis direction, Y-axis direction, and Z-axis direction, φ x ,φ y ,φ z are the hull deformation angles in the X-axis, Y-axis, and Z-axis directions, is the inertial matching measurement result of the hull deformation angle from T0 to T0+t; S13. Based on steps S11 and S12, the observation vector change of the imageless optical aiming system over time is established. The observation vector change of the imageless optical aiming system from time T0 to time T0+t is expressed as: S14. Prediction of optical aiming point information based on the observation vector change over time of the image-free optical aiming system: The measured coordinate point of the non-image optical aiming system is Inertial matching measurement results based on hull deformation angle Get the coordinate points of the optical aiming point information predicted by the image-free optical aiming system S2. Acquiring the actual optical aiming point in the image-free optical aiming system, specifically including the following sub-steps: S21. Introducing Fourier-based speckle modulation in imageless optical aiming systems: The speckle modulation function of the Fourier basis is expressed as: in, is the speckle modulation function of the Fourier basis, a is the DC term of the Fourier series, b is the contrast, f is the x and f y is the frequency size of different dimensions, φ is the phase; S22. Obtain the detection value after Fourier base speckle modulation. The specific formula is as follows: T(x,y) is the target transmittance or reflectance function, B is the detection value corresponding to the projection speckle at different frequencies, dx and dy are the integrals in the X-axis and Y-axis directions respectively; S23. Calculate the Fourier coefficient using the detection value after Fourier base speckle modulation. The specific formula is as follows: B0, B 2π / 3 、B 4π / 3 are the detection values ​​corresponding to three projected speckles with the same spatial frequency and initial phases of [0, 2π / 3, 4π / 3], respectively. F(u, v) is the Fourier coefficient containing the optical aiming point information; S24. Obtaining optical aiming point information in a non-image optical aiming system: Perform Fourier basis projection on the horizontal and vertical directions of the Fourier coefficients containing the optical aiming point information, and take the peak value of the curve to obtain the centroid coordinates of the optical aiming point. S3. Determine the fault point based on the predicted optical aiming point information and the actual optical aiming point information.

2. The method for fault detection of ship deformation measurement based on inertial base without image optical assistance according to claim 1 is characterized in that: Step S14 specifically includes the following sub-steps: S141. Theoretically, the optical aiming coordinates of the quantum correlation system at time T0+t are: S142. Perform Taylor expansion on the above equation at t=0: in, O x (t-t0) and O y (t-t0) are respectively high-order infinitesimals; S143, record the measured coordinate point of the non-image optical aiming system as Inertial matching measurement results of hull deformation angle Substitute into the formula of step S142 to obtain the predicted coordinate point of the optical aiming system 3. The method for fault detection of ship deformation measurement based on inertial base without image optical assistance according to claim 1 is characterized in that: In step S22, the detection values ​​corresponding to the projected speckles of different frequencies are collected using a bucket detector.

4. The method for fault detection of ship deformation measurement based on inertial base without image optical assistance according to claim 1 is characterized in that: The image-free optical aiming system is a single-pixel imaging system.

5. The method for fault detection of ship deformation measurement based on inertial base without image optical assistance according to claim 1 is characterized in that: In step S24, the two-dimensional image is converted into a one-dimensional projection curve based on Fourier center slice theorem.

6. A detection system for the method for detecting faults in inertial-based hull deformation measurement without image optical assistance as claimed in claim 1, characterized in that: It includes an optical aiming point information prediction module, an actual optical aiming point acquisition module and a fault point judgment module. The optical aiming point information prediction module is used to predict optical aiming point information, the actual optical aiming point acquisition module is used to obtain actual optical aiming points in an image-free optical aiming system, and the fault point judgment module is used to determine the fault point based on the predicted optical aiming point information and the actual optical aiming point.

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