Marine gate position cooperative target device calibration method

Abstract

The invention provides a calibration method for a marine gate position cooperative target device, which comprises the following steps of: erecting a calibration tool above a light through hole by utilizing a ship main inertial navigation device and the light through hole, fixing and finely adjusting the position and the direction of a laser range finder by using the calibration tool, and measuring that a light beam is downwards emitted to a horizontal reference mirror in an inertial navigation chamber; the horizontal reference mirror reflects the measurement light beam back to the upper deck along the original path, a measurement reference point is established on the upper deck, a total station is used for establishing a local coordinate system with the measurement reference point as a coordinate origin, the position of the gate position cooperative target device in the local coordinate system is measured, and the position of the gate position cooperative target device is calculated through a coordinate conversion method. According to the method, the calibration problem of the space parameters of the parking space cooperative target device relative to the ship main inertial navigation device is solved, and high-precision calibration of the parking space cooperative target device can be completed.

Description

Technical Field

[0001] The present application relates to the technical field of inertial navigation alignment systems, and in particular to a method for calibrating a cooperative target device for a marine parking space. Background Art

[0002] The parking stand cooperative target device is one of the equipment installed on board the aircraft inertial navigation alignment system. It is installed on each parking stand planned on the upper deck. It is the measurement reference for the aircraft's spatial position relative to the ship and is used to complete the coordinate structure transfer from the ship's navigation coordinate system to the parking stand coordinate system.

[0003] In order to ensure the working accuracy of the inertial navigation alignment system, after the target device is installed, its installation parameters such as lateral, longitudinal, and vertical relative to the ship's main inertial navigation must be calibrated regularly. Only after the target device is fully calibrated can the accuracy of the coordinate structure transfer from the ship's global coordinate system to the parking position coordinate system be guaranteed, thereby meeting the aircraft inertial navigation alignment accuracy requirements. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a calibration method for a cooperative target device for a ship parking stand in view of the above-mentioned problems, so as to verify the installation accuracy and parameter setting accuracy of an aircraft inertial navigation alignment system and ensure that the aircraft inertial navigation alignment accuracy requirements are met.

[0005] The embodiment of the present application is implemented as follows:

[0006] The embodiment of the present application provides a method for calibrating a cooperative target device for a marine parking space, which is characterized by comprising the following steps:

[0007] Step a, equipment installation:

[0008] A calibration fixture is set up above the light hole on the upper deck, a laser rangefinder is installed on the calibration fixture, a horizontal reference mirror is opened in the inertial navigation room, a measuring beam is directed downward to the horizontal reference mirror in the inertial navigation room, and the horizontal reference mirror reflects the measuring laser beam back to the upper deck along the original path;

[0009] Step b, position calibration:

[0010] A measurement reference point is set on the upper deck, and a local coordinate system with the measurement reference point as the coordinate origin is established using a total station. The position of the parking stand cooperative target device in the local coordinate system is measured, and the spatial parameter calculation of the parking stand cooperative target device relative to the main inertial navigation unit is completed through the coordinate conversion method.

[0011] In some optional implementation schemes, step b includes the following specific contents:

[0012] The horizontal reference mirror in the inertial navigation room is installed on the same joint mounting plate as the main inertial navigation device. The installation position of the main inertial navigation device is taken as the coordinate origin O, the bow direction is the positive direction of the X axis, and the direction perpendicular to the joint mounting plate upward is the positive direction of the Z axis. A right-handed three-dimensional rectangular coordinate system is established as the global coordinate system for this calibration. The coordinates of any point R in the global coordinate system are expressed by G. R (G RZ , G RY , G RZ ) indicates that the coordinates of the measuring point B of the horizontal reference mirror are G B (G BZ , G BY , G BZ ) adopts the design value. The purpose of this calibration is to measure the measurement point P of the n parking stand cooperative target device on the upper deck. i Coordinate values ​​of (i=1, 2…n) Perform calibration measurements.

[0013] In some optional embodiments, the calibration measurement comprises the following steps:

[0014] 1) Use special tools to open all the light hole covers and the protective cover of the horizontal reference mirror between the upper deck and the lower inertial navigation room;

[0015] 2) Set up the calibration fixture above the light hole on the upper deck and keep it stable;

[0016] 3) Fix the laser rangefinder on the bracket, and the laser beam reaches the horizontal reference mirror through the light hole;

[0017] 4) Make the laser beam emitted by the laser rangefinder be reflected back to the laser emission hole by the horizontal reference mirror;

[0018] 5) Use a laser rangefinder to measure the distance to the horizontal reference mirror, and record the measurement starting point A as the position of the laser rangefinder and the end point B as the center of the horizontal reference mirror;

[0019] 6) Select points C and D on the beam between the laser rangefinder and the light hole on the upper deck, and use the rangefinder to measure the distance d from point A to point C. AC ;

[0020] 7) There are midship mark points E and F on the upper deck. Theoretically, the line connecting the two points is parallel to the X-axis. Select a suitable position to set up the total station, and establish a local coordinate system with the EF line and the DC line as the coordinate axes. The coordinate axes are x', y', and z', and the direction is the same as that of the global coordinate system. The coordinate of any point R in the local coordinate system is expressed as L R (L RZ , L RY , L RZ );

[0021] 8) Measure C and P respectively i The coordinate position L in the local coordinate system c (L CX , L CY , L CZ )and

[0022] 9) Parking stand cooperative target device measurement point P i The single calibration result is calculated according to the following formula:

[0023]

[0024]

[0025]

[0026] 10) Repeat the measurement three times (j = 1, 2, 3), and take the average value as the final calibration result according to the following formula:

[0027]

[0028] In some optional implementation schemes, the calibration tool is a laser rangefinder fixing bracket with a fine-tuning function, which adjusts the position and direction of the laser rangefinder.

[0029] The beneficial effects of the present application are as follows: the present application provides a method for calibrating a cooperative target device for a ship parking stand, which utilizes a method for calibrating a cooperative target device for a ship parking stand that combines optical measurement with design values, establishes a measurement reference point on the upper deck, uses a total station to establish a local coordinate system with the measurement reference point as the coordinate origin, measures the position of the cooperative target device for the parking stand in the local coordinate system, and completes the calculation of the spatial parameters of the cooperative target device for the parking stand relative to the main inertial navigation through a coordinate conversion method, thereby completing the high-precision calibration of the cooperative target device for the parking stand. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 This is a flowchart of the calibration process of an embodiment of the present application;

[0032] Figure 2 This is a schematic diagram of the calibration principle of an embodiment of the present application. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0036] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0037] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0038] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0039] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0040] The features and performance of the present application are further described in detail below in conjunction with the embodiments.

[0041] like Figure 1 As shown, the present invention proposes a calibration method for a cooperative target device for a marine parking position. First, a calibration tool is set up above the light hole using a main inertial navigation device 1 and a light hole 2 of the ship. The calibration tool has the function of fixing and fine-tuning the position and direction of the laser rangefinder. The measuring light beam is downwardly projected toward a horizontal reference mirror 4 in an inertial navigation room 3. The horizontal reference mirror reflects the measuring light beam back to an upper deck 5 along the original path, and a measuring reference point is established on the upper deck. Second, a measuring reference point is set on the upper deck, and a local coordinate system with the measuring reference point as the coordinate origin is established using a total station. The position of the cooperative target device for the parking position is measured in the local coordinate system. The spatial parameter calculation of the cooperative target device for the parking position relative to the main inertial navigation device is completed through a coordinate conversion method.

[0042] This method for calibrating the cooperative target device for a marine parking stand can be described in the attached Figure 2 Design, the specific implementation is as follows:

[0043] 1. Instruments and tools

[0044] Total stations, laser rangefinders, steel rulers, laser rangefinder brackets with fine-tuning function, walkie-talkies, etc. that are within the validity period of calibration.

[0045] 2. Personnel positions and responsibilities

[0046] (1) Position title: On-site support post; Number of people: 3; Responsibilities: opening the light hole, opening the horizontal reference mirror, setting up and adjusting the bracket, clearing obstacles, and restoring the site after calibration, etc.

[0047] (2) Position title: Surveying position; Number of persons: 4; Responsibilities: Operate the fine-tuning bracket and total station in the inertial navigation room and upper deck to carry out measurement.

[0048] (3) Position title: Data collection and processing position; Number of persons: 2; Responsibilities: Data collection and processing.

[0049] 3. Implementation steps

[0050] The horizontal reference mirror in the inertial navigation room is installed on the same joint mounting plate 6 as the main inertial navigation device. The installation position of the main inertial navigation device is taken as the coordinate origin O, the bow direction is the positive direction of the X axis, and the direction perpendicular to the joint mounting plate upward is the positive direction of the Z axis. A right-handed three-dimensional rectangular coordinate system is established as the global coordinate system for this calibration. The coordinates of any point R in the global coordinate system are expressed by G. R (G RX , G RY , G RZ ) indicates that the coordinates of the measuring point B are G B (G BX , G BY , G BZ ) adopts the design value. The purpose of this calibration is to measure the measurement point P of the n parking stand cooperative target device on the upper deck. i Coordinate values ​​of (i=1, 2…n) Perform calibration measurements.

[0051] (1) Use special tools to open all the light hole covers and the protective cover of the horizontal reference mirror between the upper deck and the lower inertial navigation room;

[0052] (2) Set up the calibration fixture above the light hole on the upper deck and keep it stable;

[0053] (3) Fix the laser rangefinder on the bracket, and the laser beam reaches the horizontal reference mirror through the light hole;

[0054] (4) The laser beam emitted by the laser rangefinder is reflected back to the laser emission hole by the horizontal reference mirror;

[0055] (5) Use a laser rangefinder to measure the distance to the horizontal reference mirror, and record the measurement starting point A as the position of the laser rangefinder and the end point B as the center of the horizontal reference mirror surface;

[0056] (6) Select points C and D on the beam between the laser rangefinder and the light hole on the upper deck, and use the rangefinder to measure the distance d from point A to point C. AC ;

[0057] (7) There are midship mark points E and F on the upper deck. Theoretically, the line connecting the two points is parallel to the X-axis. Select a suitable location to set up the total station, and establish a local coordinate system with the lines EF and DC as coordinate axes. The coordinate axes are x', y', and z', and the direction is the same as that of the global coordinate system. The coordinate of any point R in the local coordinate system is expressed as L R (L RZ , L RY , L RZ );

[0058] (8) Measure C and P respectively iThe coordinate position L in the local coordinate system c (L CX , L CY , L CZ )and

[0059] (9) Parking stand cooperative target device measurement point P i The single calibration result is calculated according to the following formula:

[0060]

[0061] (10) Repeat the measurement three times (j = 1, 2, 3), and take the average value as the final calibration result according to the following formula:

[0062]

[0063] The specific calibration data are as follows in Table 1:

[0064] Table 1 Calibration data of measuring point P1 of a certain parking stand cooperative target device (unit: mm)

[0065]

Claims

1. A method for calibrating a cooperative target device for a marine parking space, characterized in that: The steps include: Step a, equipment installation: A calibration fixture is set up above the light hole on the upper deck, a laser rangefinder is installed on the calibration fixture, a horizontal reference mirror is opened in the inertial navigation room, a measuring beam is directed downward to the horizontal reference mirror in the inertial navigation room, and the horizontal reference mirror reflects the measuring laser beam back to the upper deck along the original path; Step b, position calibration: A measurement reference point is set on the upper deck, and a local coordinate system with the measurement reference point as the coordinate origin is established using a total station. The position of the parking stand cooperative target device in the local coordinate system is measured, and the spatial parameter calculation of the parking stand cooperative target device relative to the main inertial navigation unit is completed through the coordinate conversion method.

2. A method for calibrating a cooperative target device for a marine parking space according to claim 1, characterized in that: Step b includes the following specific contents: The horizontal reference mirror in the inertial navigation room is installed on the same joint mounting plate as the main inertial navigation device. The installation position of the main inertial navigation device is taken as the coordinate origin O, the bow direction is the positive direction of the X axis, and the direction perpendicular to the joint mounting plate upward is the positive direction of the Z axis. A right-handed three-dimensional rectangular coordinate system is established as the global coordinate system for this calibration. The coordinates of any point R in the global coordinate system are expressed by G. R (G RX , G RY , G RZ ) indicates that the coordinates of the measuring point B of the horizontal reference mirror are G B (G RX , G BY , G RZ ) adopts the design value. The purpose of this calibration is to measure the measurement point P of the n parking position cooperation target device on the upper deck. i Coordinate values ​​of (i=1, 2…n) Perform calibration measurements.

3. A method for calibrating a cooperative target device for a marine parking space according to claim 2, characterized in that: The calibration measurement comprises the following steps: 1) Use special tools to open all the light hole covers and horizontal reference mirror protective covers between the upper deck and the lower inertial navigation room; 2) Set up the calibration fixture above the light hole on the upper deck and keep it stable; 3) Fix the laser rangefinder on the bracket, and the laser beam reaches the horizontal reference mirror through the light hole; 4) Make the laser beam emitted by the laser rangefinder be reflected back to the laser emission hole by the horizontal reference mirror; 5) Use a laser rangefinder to measure the distance to the horizontal reference mirror, and record the measurement starting point A as the position of the laser rangefinder and the end point B as the center of the horizontal reference mirror; 6) Select points C and D on the beam between the laser rangefinder and the light hole on the upper deck, and use the rangefinder to measure the distance d from point A to point C. AC ; 7) There are midship mark points E and F on the upper deck. Theoretically, the line connecting the two points is parallel to the X-axis. Select a suitable position to set up the total station, and establish a local coordinate system with the EF line and the DC line as the coordinate axes. The coordinate axes are x', y', and z', and the direction is the same as that of the global coordinate system. The coordinate of any point R in the local coordinate system is expressed as L R (L RX , L RY , L RZ ); 8) Measure C and P respectively i The coordinate position L in the local coordinate system C (L CX , L CY , L CZ )and 9) Parking stand cooperative target device measurement point P i The single calibration result is calculated according to the following formula: 10) Repeat the measurement three times (j = 1, 2, 3), and take the average value as the final calibration result according to the following formula:

4. A method for calibrating a cooperative target device for a marine parking space according to claim 3, characterized in that: The calibration tool is a laser rangefinder fixing bracket with a fine-tuning function, which adjusts the position and direction of the laser rangefinder.

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