Ocean node instrument attitude calibration device and calibration method

Abstract

The invention belongs to the field of offshore geophysical exploration, and discloses an ocean node instrument attitude calibration device and a calibration method.The device comprises a Z-axis rotating base, an X-axis rotating table and a Y-axis rotating table, and an ocean node instrument and optical fiber inertial navigation are rotated in the Z-axis direction, the X-axis direction and the Y-axis direction; therefore, the states of the ocean node attitude sensor at different heading angles, different pitching angles and different rolling angles can be observed. The calibration method is used after the calibration operation of the ocean node attitude sensor and before the ocean node attitude sensor is formally arranged on the seabed, equivalently, the calibrated attitude sensor is further calibrated, and whether the accuracy of the attitude sensor meets the use requirement or not is verified. According to the method, the calibrated ocean node attitude sensor can be further calibrated, so that the accuracy of ocean node data acquisition is improved, and the exploration risk is reduced; the method is suitable for the ocean oil and gas reservoir exploitation industry, and is used for calibrating the calibrated ocean node attitude sensor.

Description

Technical Field

[0001] The invention belongs to the field of offshore geophysical exploration, in particular to an ocean node instrument attitude calibration device and a calibration method. Background Art

[0002] As a revolutionary new equipment for marine exploration, the marine node realizes all-round, high-coverage, large-offset, and high-signal-to-noise ratio marine seismic data acquisition, providing a reliable solution for increasing reserves and production of oil and gas fields and improving the accuracy of marine oil and gas reservoir imaging, and has broad development prospects.

[0003] Three orthogonal omnidirectional moving coil detectors are installed inside the ocean node to collect seismic shear wave signals in the X and Y directions and seismic longitudinal wave signals in the Z direction respectively. However, due to the influence of the seabed topography and the deployment process, the posture of the ocean node on the seabed is uncertain. Therefore, the ocean node mainly relies on the built-in attitude sensor to provide its inclination and compass direction information, and at the same time performs vector rotation on the data of the three detectors to obtain the true vertical and horizontal component data.

[0004] After the attitude sensor is installed inside the ocean node, it is necessary to calibrate the attitude sensor inside the ocean node before placing the ocean node on the seabed. The existing calibration method is mainly based on the rotation calibration method of 6 faces and 24 points. After the calibration is completed, the attitude sensor gives an evaluation result. If the evaluation result is within the set range, it can be put into use. However, this calibration method can only indicate that the attitude sensor in the ocean node can collect the heading angle, pitch angle, and roll angle of the local magnetic field data. In actual use, the heading angle, pitch angle, and roll angle data have specified error standards. The Q / SYBGP·K2855 gyrocompass calibration specification stipulates that the heading angle shall not exceed ±5°, and the pitch angle and roll angle shall not exceed ±1.5°. If the error is large, the attitude sensor cannot meet the use. In summary, the data collected by the calibrated attitude sensor may have low accuracy. Summary of the invention

[0005] In order to solve the above deficiencies in the prior art, the present invention aims to provide an ocean node instrument attitude calibration device and calibration method, so as to calibrate the attitude of the calibrated ocean node instrument, observe whether the heading angle, pitch angle and roll angle data collected by its built-in attitude sensor meet the error range specified by the industry standard, and then know whether the attitude sensor meets the requirements of use.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows: An ocean node instrument attitude calibration device, comprising a Z-axis rotating seat, an X-axis rotating table and a Y-axis rotating table; A rotating member is provided at the bottom end of the Z-axis rotating seat, so that the Z-axis rotating seat rotates around the Z-axis direction; The X-axis rotating table is rotatably arranged on the Z-axis rotating seat, and a first driving member for driving the X-axis rotating table to rotate around the X-axis direction is arranged on the X-axis rotating table; The Y-axis rotating platform is rotatably arranged on the X-axis rotating platform, and a second driving member for driving the Y-axis rotating platform to rotate around the Y-axis direction is arranged on the Y-axis rotating platform; an upper mounting portion for mounting the ocean node instrument and a lower mounting portion for mounting the fiber optic inertial navigation are arranged on the Y-axis rotating platform; The rotation axis of the X-axis rotating table, the rotation axis of the Y-axis rotating table, and the rotation axis of the Z-axis rotating seat are perpendicular to each other; A first rotating shaft is fixedly arranged on the X-axis rotating platform, a bearing seat is fixedly arranged on the top of the Z-axis rotating seat, and the first rotating shaft is rotatably arranged in the bearing seat so that the X-axis rotating platform rotates around the first rotating shaft, and the axial direction of the first rotating shaft is the X-axis direction; A second rotating shaft is fixedly provided on the Y-axis rotating platform, a bearing seat is fixedly provided on the top of the X-axis rotating platform, and the second rotating shaft is rotatably arranged in the bearing seat so that the Y-axis rotating platform rotates around the second rotating shaft, and the axial direction of the second rotating shaft is the Y-axis direction; The first rotation axis is arranged perpendicular to the second rotation axis; The first driving member has the same structure as the second driving member. The first driving member includes a first rotating disk fixedly mounted on the end of the first rotating shaft and a first handle fixedly connected to the first rotating disk. A first fixed disk is fixedly mounted on the Z-axis rotating seat. The first fixed disk is sleeved on the first rotating shaft. The first fixed disk is located between the first rotating disk and the Z-axis rotating seat. The first rotating disk and the first fixed disk are detachably connected via fasteners.

[0007] As a limitation of the present invention: 24 through holes are evenly spaced along the circumference of the first rotating disk, and 24 through holes are also evenly spaced along the circumference of the first fixed disk. Fasteners are passed through the through holes on the first rotating disk and the through holes on the first fixed disk to limit the first rotating disk.

[0008] As another limitation of the present invention: the Y-axis rotating table includes a platform and side panels installed around the platform, the upper mounting portion is the space enclosed by the platform and the side panels, and a first limit member is arranged on the side panel, and the first limit member is used to realize the lateral limit of the ocean node instrument; the first limit member includes a screw and a limit plate, the screw passes through the side panel and is threadedly connected to the side panel, and the limit plate is fixed to one end of the screw extending into the upper mounting portion.

[0009] As a further limitation of the present invention: a group of second limiting members are respectively arranged on the two opposite side panels, and the second limiting members are used to realize the vertical limiting of the ocean node instrument; the second limiting members include an L-shaped plate, one side of the L-shaped plate is detachably connected to the side plate, and the other side of the L-shaped plate extends to the upward mounting portion.

[0010] As a further limitation of the present invention: the rotating member is a universal wheel.

[0011] As another limitation of the present invention: the material of the Z-axis rotating seat, the X-axis rotating table and the Y-axis rotating table are all selected to be non-magnetic stainless steel.

[0012] The present invention also provides a method for calibrating an ocean node instrument attitude, the method comprising: S1. Install the ocean node instrument in the upper mounting part, install the fiber optic inertial navigation system in the lower mounting part, and fix the relative positions of the ocean node instrument and the fiber optic inertial navigation system; S2. Connect the ocean node instrument and fiber optic inertial navigation to the computer equipment respectively, debug the upper computer software parameters, and read the three sets of angle values ​​displayed by the ocean node attitude sensor and fiber optic inertial navigation equipment in real time. The three sets of angle values ​​refer to the heading angle, pitch angle, and roll angle; S3. Ensure that the X-axis rotating table and the Y-axis rotating table are level, rotate the Z-axis rotating seat to any angle between 0° and 360°, and observe the deviation between the three groups of angle values ​​displayed by the marine node attitude sensor and the three groups of angle values ​​displayed by the fiber optic inertial navigation device. The deviation of the three groups of angle values ​​includes: heading angle deviation Δα=α 姿 -α 光 , the pitch angle deviation value Δβ=β 姿 -β 光 , roll angle deviation Δγ=γ 姿 -γ 光 ; S4. Rotate the X-axis rotating table to any angle between -85° and 85°, rotate the Y-axis rotating table to any angle between -85° and 85°, and then rotate the Z-axis rotating seat to any angle between 0° and 360°, and observe the deviation between the three groups of angle values ​​displayed by the marine node attitude sensor and the three groups of angle value data of the fiber optic inertial navigation device; the deviation values ​​of the three groups of angle value data include: heading angle deviation Δα=α 姿 -α 光 , the pitch angle deviation value Δβ=β 姿 -β 光 , roll angle deviation Δγ=γ 姿 -γ 光 ; S5. Result judgment; According to the deviation values ​​of the three groups of angle value data obtained in steps S3 and S4, if the value of Δα is within ±5°, Δβ is within ±1.5°, and Δγ is within ±1.5°, it means that the ocean node attitude sensor meets the use requirements, otherwise, it does not meet the use requirements.

[0013] As a limitation of the present invention: in step S3, the rotation angles of the Z-axis rotating seat are 0°, 30°, 45°, 90°, 120°, 135°, and 150° respectively; In step S4, the rotation angles of the X-axis rotation table are -60°, -45°, -30°, 30°, 45°, and 60° respectively; the rotation angles of the Y-axis rotation table are -60°, -45°, -30°, 30°, 45°, and 60° respectively; and the rotation angles of the Z-axis rotation seat are 0°, 30°, 45°, 90°, 120°, 135°, and 150° respectively.

[0014] Due to the adoption of the above technical solution, the present invention has the following beneficial effects compared with the prior art: The present invention provides an attitude calibration device and a calibration method for an ocean node instrument. The device includes a Z-axis rotating seat, an X-axis rotating platform and a Y-axis rotating platform. The Z-axis rotating seat rotates around the Z-axis direction, the X-axis rotating platform rotates around the X-axis direction, and the Y-axis rotating platform rotates around the Y-axis direction. The Y-axis rotating platform is provided with an upper mounting portion for installing the ocean node instrument and a lower mounting portion for installing the fiber-optic inertial navigation. The present invention can realize the rotation of the ocean node and the fiber-optic inertial navigation in the three directions of the X-axis, Y-axis and Z-axis and the hovering at any angle. By observing the difference between the heading angle, pitch angle and roll angle displayed by the calibrated attitude sensor and the heading angle, pitch angle and roll angle displayed by the fiber-optic inertial navigation, it can be determined whether the calibration result of the attitude sensor is accurate and whether it meets the requirements for formal deployment. The present invention is used after the calibration operation of the ocean node attitude sensor and before it is officially deployed on the seabed. It is equivalent to further calibrating the calibrated attitude sensor. When the deviations of the three groups of angle values ​​displayed by the attitude sensor and the fiber optic inertial navigation are within the error range specified by the standard, the formal deployment requirements are met. Otherwise, it means that the attitude sensor has a large error, cannot be used, and needs to be eliminated.

[0015] In summary, the present invention can further calibrate the calibrated ocean node attitude sensor, thereby improving the accuracy of ocean node data collection and reducing exploration risks; the present invention is suitable for the marine oil and gas reservoir exploitation industry, and is used to calibrate the calibrated ocean node attitude sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] Figure 1This is a schematic diagram of the structure of Embodiment 1 of the present invention; Figure 2 It is a schematic diagram of the structure of Embodiment 1 of the present invention from another viewing angle; Figure 3 This is a schematic structural diagram of the lower mounting portion in Embodiment 1 of the present invention; Figure 4 is a schematic diagram of the structure of Embodiment 1 of the present invention at a third viewing angle; Figure 5 for Figure 4 A magnified schematic diagram of part A; Figure 6 is a schematic structural diagram of Embodiment 1 of the present invention at a fourth viewing angle; Figure 7 for Figure 6 Schematic diagram of the enlarged portion B.

[0018] In the figure: 1-Z-axis rotating seat, 2-X-axis rotating table, 3-Y-axis rotating table, 31-platform, 32-side plate, 4-universal wheel, 5-first rotating shaft, 6-bearing seat, 7-first rotating disk, 8-first handle, 9-first fixed disk, 10-second rotating shaft, 11-second rotating disk, 12-second handle, 13-second fixed disk, 14-lower mounting part, 141-frame, 142-bottom plate, 15-first limiting member, 151-screw, 152-limiting disk, 16-second limiting member, 161-mounting groove, 17-fiber optic inertial navigation. DETAILED DESCRIPTION

[0019] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the apparatus and method for calibrating the attitude of an ocean node instrument described herein are preferred embodiments, which are only used to illustrate and explain the present invention and do not constitute a limitation to the present invention.

[0020] The directional terms or positional relationships such as "upper", "lower", "left", "right", "front", and "back" described in the embodiments are based on the figures in the specification of the present invention. Figure 1 The orientation relationship is only for the convenience of describing the present invention and simplifying the description. It does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the content protected by the present invention.

[0021] Embodiment 1 A device for calibrating the attitude of an ocean node instrument like Figure 1 to Figure 7As shown, this embodiment includes a Z-axis rotating seat 1, an X-axis rotating table 2 and a Y-axis rotating table 3; the Z-axis rotating seat 1 can realize the rotation of the marine node and the fiber-optic inertial navigation 17 around the Z-axis direction, the X-axis rotating table 2 can realize the rotation of the marine node and the fiber-optic inertial navigation 17 around the X-axis direction, and the Y-axis rotating table 3 can realize the rotation of the marine node and the fiber-optic inertial navigation 17 around the Y-axis direction.

[0022] 1. Z-axis rotating seat 1; The Z-axis rotating seat 1 is a cubic frame structure, and a rotating member is arranged at the bottom of the Z-axis rotating seat 1. In this embodiment, the rotating member adopts a universal wheel 4 in the prior art, so that the Z-axis rotating seat 1 can rotate around the Z-axis direction. The material of the Z-axis rotating seat 1 is 316 stainless steel, which meets the non-magnetic requirement. Of course, other non-magnetic stainless steels, such as 304 stainless steel, can also be selected.

[0023] 2. X-axis rotating table 2; like Figure 1 , 2 As shown, the X-axis rotating table 2 is a square frame structure, and the X-axis rotating table 2 is rotatably set on the Z-axis rotating seat 1. The rotation setting method is: a first rotating axis 5 is fixedly provided on the front side frame and the rear side frame of the X-axis rotating table 2, and a bearing seat 6 is fixedly provided at the top of the Z-axis rotating seat 1 and the position corresponding to the first rotating axis 5. The first rotating axis 5 is rotatably set in the bearing seat 6, so that the X-axis rotating table 2 can rotate around the first rotating axis 5. Here, the axial directions of the two first rotating axes 5 are both in the X-axis direction, that is, along the front and rear directions.

[0024] The X-axis rotating table 2 is provided with a first driving member for driving the X-axis rotating table 2 to rotate around the X-axis direction.

[0025] like Figure 2 As shown, the first driving member includes a first rotating disk 7 fixedly arranged at the end of the first rotating shaft 5 and a first handle 8 fixedly connected to the first rotating disk 7. In this embodiment, the first rotating disk 7 is fixedly arranged at the rear end of the first rotating shaft 5; a first fixed disk 9 is fixedly arranged at the top of the Z-axis rotating seat 1, and the first fixed disk 9 is arranged parallel to the first rotating disk 7. The first fixed disk 9 is sleeved on the first rotating shaft 5, and the first fixed disk 9 is located between the first rotating disk 7 and the Z-axis rotating seat 1. The first rotating disk 7 and the first fixed disk 9 are detachably connected by fasteners, and the fasteners here refer to bolts and nuts.

[0026] Furthermore, 24 through holes are evenly spaced along the circumference of the first rotating disk 7, and 24 through holes are evenly spaced along the circumference of the first fixed disk 9. The fasteners penetrate the through holes on the first rotating disk 7 and the through holes on the first fixed disk 9 to limit the position of the first rotating disk 7. The fasteners here refer to bolts and nuts, and of course, screws in the prior art can also be selected.

[0027] The 24 through holes are arranged at equal intervals on the first rotating disk 7 and the first fixed disk 9 respectively, which have two functions. First, when the X-axis rotating table 2 rotates to the specified angle, the bolts are passed through the through holes on the first rotating disk 7 and the through holes on the first fixed disk 9 and then fixed with nuts. Since the weight of the ocean node can reach 30 kilograms, the fasteners, through holes and other structures are equivalent to limiting the first rotating disk 7 after rotating to the specified angle to prevent the first rotating disk 7 from continuing to rotate at will due to the influence of the gravity of the ocean node. Second, the first rotating disk 7 is provided with 24 through holes at equal intervals, and the 24 through holes surround the first rotating disk 7 and divide 360° equally, so the angle between two adjacent through holes is 15°. For example, if you want to rotate the X-axis rotating table 2 by 30°, you can know what position you need to rotate to by 30° according to the through holes. Compared with blindly rotating the first handle 8, this embodiment can improve the operation efficiency.

[0028] The material of the X-axis rotating table 2 is 316 stainless steel to meet the non-magnetic requirement. Of course, other non-magnetic stainless steels, such as 304 stainless steel, can also be selected.

[0029] 3. Y-axis rotating table 3; like Figure 1 , 3 As shown, the Y-axis rotating table 3 is rotatably arranged on the X-axis rotating table 2, and the Y-axis rotating table 3 includes a platform 31. The Y-axis rotating table 3 is rotatably arranged in the following manner: a second rotating axis 10 is fixedly arranged on the bottom surface of the platform 31, and the second rotating axis 10 is arranged perpendicularly to the first rotating axis 5. A bearing seat 6 is fixedly arranged at the top end of the X-axis rotating table 2, corresponding to the position of the second rotating axis 10, and the second rotating axis 10 is rotatably arranged in the bearing seat 6, so that the Y-axis rotating table 3 can rotate around the second rotating axis 10, and the axial direction of the second rotating axis 10 here is the Y-axis direction, that is, the left and right directions.

[0030] A second driving member is disposed on the Y-axis rotating table 3 for driving the Y-axis rotating table 3 to rotate around the Y-axis direction.

[0031] like Figure 1 , 4 As shown in Figures 5 and 6, the second driving member has the same structure as the first driving member. The second driving member includes a second rotating disk 11 fixedly mounted on the end of the second rotating shaft 10 and a second handle 12 fixedly connected to the second rotating disk 11. In this embodiment, the second rotating disk 11 is fixedly mounted on the left end of the second rotating shaft 10. A second fixed disk 13 is fixedly mounted on the X-axis rotating table 2. The second fixed disk 13 is parallel to the second rotating disk 11. The second fixed disk 13 is sleeved on the second rotating shaft 10. The second fixed disk 13 is located between the second rotating disk 11 and the X-axis rotating table 2. The second rotating disk 11 and the second fixed disk 13 are detachably connected by fasteners, which are bolts and nuts.

[0032] The second rotating disk 11 and the second fixed disk 13 are also each provided with 24 through holes at equal intervals. The functions of the 24 through holes are the same as those of the through holes on the first rotating disk 7 and the first fixed disk 9, and are not described in detail here.

[0033] like Figure 1 , 3 As shown, the Y-axis rotating platform 3 is provided with an upper mounting portion for mounting the ocean node instrument and a lower mounting portion 14 for mounting the fiber optic inertial navigation system 17; the Y-axis rotating platform 3 also includes side panels 32, which are mounted on the edges of the platform 31, and the upper mounting portion is a space enclosed by the platform 31 and the side panels 32. The lower mounting portion 14 includes a frame 141 fixedly connected to the bottom surface of the platform 31 and a bottom plate 142 fixedly arranged at the bottom end of the frame 141. When in use, the fiber optic inertial navigation system 17 is placed on the bottom plate 142 of the lower mounting portion 14.

[0034] The material of the Y-axis rotating table 3, the side plate 32, and the lower mounting portion 14 are all 316 stainless steel, which meets the non-magnetic requirement. Of course, other non-magnetic stainless steels, such as 304 stainless steel, can also be selected.

[0035] The ocean node is placed on the platform 31. In order to limit the position of the ocean node, a first limiting member 15 is provided on the side plate 32. Figure 1 , 6 As shown in Figures 7 and 8, in this embodiment, a group of first limiting members 15 are respectively provided on the three side panels 32, and the first limiting members 15 are used to realize the lateral limiting of the ocean node instrument; the first limiting member 15 includes a screw 151 and a limiting plate 152, and the screw 151 passes through the front side panel, the rear side panel, and the left side panel respectively, and the screw 151 and the front side panel, the screw 151 and the rear side panel, and the screw 151 and the left side panel are all threadedly connected. The limiting plate 152 is fixed to one end of the screw 151 extending into the upper mounting portion. When in use, the screw 151 is rotated, and the limiting plates 152 all move toward the inner side of the upper mounting portion, thereby clamping the ocean node instrument so that it cannot move in the horizontal direction. Of course, the first limiting member 15 can be provided in one group only on the side panels 32, or in one group on each of any two side panels 32, as long as the ocean node can be limited to move in the horizontal direction.

[0036] Further, such as Figure 1 , 6As shown in Figures 7 and 8, a group of second limiting members 16 are also provided on each of the two opposite side panels 32, and the second limiting members 16 are used to realize the vertical limiting of the ocean node instrument; the second limiting member 16 includes an L-shaped plate, one side of which is provided with a mounting groove 161 extending in the upward and downward directions, and the side panel 32 is provided with an internal threaded hole, and the side is detachably connected to the side panel 32 by passing screws through the mounting groove 161 and the internal threaded hole; the other side of the L-shaped plate extends to the upper mounting portion. This structure can adapt to ocean node instruments of different sizes by adjusting the fixed height of the L-shaped plate on the side panel 32 to prevent the ocean node instrument from moving in the vertical direction.

[0037] It should be noted that the rotation axis of the X-axis rotating table 2 is along the front and rear direction, the rotation axis of the Y-axis rotating table 3 is along the left and right direction, and the rotation axis of the Z-axis rotating base 1 is along the up and down direction, and the three are perpendicular to each other.

[0038] When the device is in use, the ocean node instrument is placed in the upper mounting portion, and the fiber optic inertial navigation system 17 is placed in the lower mounting portion 14 . The positions of the two are relatively fixed to ensure that the posture of the ocean node instrument is synchronized with the posture of the fiber optic inertial navigation system 17 .

[0039] The ocean node instrument and the fiber optic inertial navigation system 17 are rotated around the Z-axis direction to observe the status of the ocean node attitude sensor at different heading angles.

[0040] The ocean node instrument and the fiber optic inertial navigation system 17 are rotated around the X-axis direction to observe the status of the ocean node attitude sensor at different pitch angles.

[0041] The ocean node instrument and the fiber optic inertial navigation system 17 are rotated around the Y-axis direction to observe the status of the ocean node attitude sensor at different roll angles.

[0042] Embodiment 2 A method for calibrating the attitude of an ocean node instrument This embodiment adopts embodiment 1, and this method comprises the following steps: S1. Install the ocean node instrument in the upper installation part and the fiber optic inertial navigation system in the lower installation part. The relative positions of the ocean node instrument and the fiber optic inertial navigation system are fixed.

[0043] S2. Connect the ocean node instrument and fiber optic inertial navigation to the computer equipment respectively, debug the upper computer software parameters, and read the three sets of angle values ​​displayed by the ocean node attitude sensor and fiber optic inertial navigation equipment in real time. The three sets of angle values ​​refer to the heading angle (Yaw), pitch angle (Pitch), and roll angle (Roll).

[0044] S3. While ensuring that the X-axis rotating table and the Y-axis rotating table are level, rotate the Z-axis rotating base to any angle between 0° and 360°. For example, in this embodiment, the Z-axis rotating base can be rotated to representative angles commonly used in experiments, such as 0°, 30°, 45°, 90°, 120°, 135°, and 150°.

[0045] Observe the deviation values ​​of the three groups of angle values ​​displayed by the ocean node attitude sensor and the three groups of angle value data displayed by the fiber optic inertial navigation device. The deviation values ​​of the three groups of angle value data include: heading angle deviation value Δα=α 姿 -α 光 , the pitch angle deviation value Δβ=β 姿 -β 光 , roll angle deviation Δγ=γ 姿 -γ 光 ; S4. Rotate the X-axis rotating table to any angle between -85° and 85°, rotate the Y-axis rotating table to any angle between -85° and 85°, and then rotate the Z-axis rotating base to any angle between 0° and 360°. For example, in this embodiment, the X-axis rotating table can be rotated to representative angles commonly used in experiments, such as -60°, -45°, -30°, 30°, 45°, and 60°; the Y-axis rotating table can be rotated to representative angles commonly used in experiments, such as -60°, -45°, -30°, 30°, 45°, and 60°; and the Z-axis rotating base can be rotated to representative angles commonly used in experiments, such as 0°, 30°, 45°, 90°, 120°, 135°, and 150°.

[0046] Observe the deviation between the three groups of angle values ​​displayed by the marine node attitude sensor and the three groups of angle value data of the fiber optic inertial navigation device; the deviation values ​​of the three groups of angle value data include: heading angle deviation value Δα=α 姿 -α 光 , the pitch angle deviation value Δβ=β 姿 -β 光 , roll angle deviation Δγ=γ 姿 -γ 光 ; S5. Result judgment; According to the deviation values ​​of the three groups of angle value data obtained in steps S3 and S4, it is judged that according to the Q / SY GP·K2855 gyrocompass calibration specification, if the value of Δα is within ±5°, Δβ is within ±1.5°, and Δγ is within ±1.5°, it means that the ocean node attitude sensor meets the use requirements and can be normally deployed on the seabed. Otherwise, it does not meet the use requirements and the attitude sensor needs to be eliminated.

[0047] This method is used to further calibrate the calibrated attitude sensor to verify whether its accuracy meets the usage requirements.

[0048] It should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A device for calibrating the attitude of an ocean node instrument, characterized in that: It includes a Z-axis rotating seat, an X-axis rotating table, and a Y-axis rotating table; A rotating member is provided at the bottom end of the Z-axis rotating seat, so that the Z-axis rotating seat rotates around the Z-axis direction; The X-axis rotating table is rotatably arranged on the Z-axis rotating seat, and a first driving member for driving the X-axis rotating table to rotate around the X-axis direction is arranged on the X-axis rotating table; The Y-axis rotating platform is rotatably arranged on the X-axis rotating platform, and a second driving member for driving the Y-axis rotating platform to rotate around the Y-axis direction is arranged on the Y-axis rotating platform; an upper mounting portion for mounting the ocean node instrument and a lower mounting portion for mounting the fiber optic inertial navigation are arranged on the Y-axis rotating platform; The rotation axis of the X-axis rotating table, the rotation axis of the Y-axis rotating table, and the rotation axis of the Z-axis rotating seat are perpendicular to each other; A first rotating shaft is fixedly arranged on the X-axis rotating platform, a bearing seat is fixedly arranged on the top of the Z-axis rotating seat, and the first rotating shaft is rotatably arranged in the bearing seat so that the X-axis rotating platform rotates around the first rotating shaft, and the axial direction of the first rotating shaft is the X-axis direction; A second rotating shaft is fixedly provided on the Y-axis rotating platform, a bearing seat is fixedly provided on the top of the X-axis rotating platform, and the second rotating shaft is rotatably arranged in the bearing seat so that the Y-axis rotating platform rotates around the second rotating shaft, and the axial direction of the second rotating shaft is the Y-axis direction; The first rotation axis is arranged perpendicular to the second rotation axis; The first driving member has the same structure as the second driving member. The first driving member includes a first rotating disk fixedly mounted on the end of the first rotating shaft and a first handle fixedly connected to the first rotating disk. A first fixed disk is fixedly mounted on the Z-axis rotating seat. The first fixed disk is sleeved on the first rotating shaft. The first fixed disk is located between the first rotating disk and the Z-axis rotating seat. The first rotating disk and the first fixed disk are detachably connected via fasteners.

2. The device for calibrating the attitude of an ocean node according to claim 1, characterized in that: The first rotating disk has 24 through holes evenly spaced along its circumference, and the first fixed disk has 24 through holes evenly spaced along its circumference. Fasteners penetrate through the through holes on the first rotating disk and the through holes on the first fixed disk to limit the first rotating disk.

3. A marine node instrument attitude calibration device according to claim 1 or 2, characterized in that: The Y-axis rotating table includes a platform and side panels installed around the platform. The upper mounting portion is the space enclosed by the platform and the side panels. A first limit member is arranged on the side panel, and the first limit member is used to realize the lateral limit of the ocean node instrument. The first limit member includes a screw and a limit plate. The screw passes through the side panel and is threadedly connected to the side panel. The limit plate is fixed to one end of the screw extending into the upper mounting portion.

4. The device for calibrating the attitude of an ocean node according to claim 3, characterized in that: A group of second limit members are also arranged on each of the two opposite side panels, and the second limit members are used to realize the vertical limit of the ocean node instrument; the second limit members include an L-shaped plate, one side of which is detachably connected to the side plate, and the other side of the L-shaped plate extends toward the upward mounting portion.

5. The device for calibrating the attitude of an ocean node according to claim 4, characterized in that: The rotating part is a universal wheel.

6. A device for calibrating the attitude of an ocean node instrument according to any one of claims 1, 2, 4 and 5, characterized in that: The materials of the Z-axis rotating seat, X-axis rotating table and Y-axis rotating table are all non-magnetic stainless steel.

7. A method for calibrating an ocean node instrument attitude, using an ocean node instrument attitude calibration device according to any one of claims 1 to 6, characterized in that: The method includes, S1. Install the ocean node instrument in the upper mounting part, install the fiber optic inertial navigation system in the lower mounting part, and fix the relative positions of the ocean node instrument and the fiber optic inertial navigation system; S2. Connect the ocean node instrument and fiber optic inertial navigation to the computer equipment respectively, debug the upper computer software parameters, and read the three sets of angle values ​​displayed by the ocean node attitude sensor and fiber optic inertial navigation equipment in real time. The three sets of angle values ​​refer to the heading angle, pitch angle, and roll angle; S3. Ensure that the X-axis rotating table and the Y-axis rotating table are level, rotate the Z-axis rotating seat to any angle between 0° and 360°, and observe the deviation between the three groups of angle values ​​displayed by the marine node attitude sensor and the three groups of angle values ​​displayed by the fiber optic inertial navigation device. The deviation of the three groups of angle values ​​includes: heading angle deviation Δα=α 姿 -α 光 , the pitch angle deviation value Δβ=β 姿 -β 光 , roll angle deviation Δγ=γ 姿 -γ 光 ; S4. Rotate the X-axis rotating table to any angle between -85° and 85°, rotate the Y-axis rotating table to any angle between -85° and 85°, and then rotate the Z-axis rotating seat to any angle between 0° and 360°, and observe the deviation between the three groups of angle values ​​displayed by the marine node attitude sensor and the three groups of angle value data of the fiber optic inertial navigation device; the deviation values ​​of the three groups of angle value data include: heading angle deviation Δα=α 姿 -α 光 , the pitch angle deviation value Δβ=β 姿 -β 光 , roll angle deviation Δγ=γ 姿 -γ 光 ; S5. Result judgment; According to the deviation values ​​of the three groups of angle value data obtained in steps S3 and S4, if the value of Δα is within ±5°, Δβ is within ±1.5°, and Δγ is within ±1.5°, it means that the ocean node attitude sensor meets the use requirements, otherwise, it does not meet the use requirements.

8. A method for calibrating the attitude of an ocean node according to claim 7, characterized in that: In step S3, the rotation angles of the Z-axis rotating seat are 0°, 30°, 45°, 90°, 120°, 135°, and 150° respectively; In step S4, the rotation angles of the X-axis rotation table are -60°, -45°, -30°, 30°, 45°, and 60° respectively; the rotation angles of the Y-axis rotation table are -60°, -45°, -30°, 30°, 45°, and 60° respectively; and the rotation angles of the Z-axis rotation seat are 0°, 30°, 45°, 90°, 120°, 135°, and 150° respectively.

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