Attitude and heading equipment performance test method and test system

Abstract

The invention discloses an attitude and heading equipment performance test method and test system, the attitude and heading equipment performance test system comprises an unmanned ship, optoelectronic equipment, data recording equipment, performance analysis software and high-precision satellite positioning equipment, and the unmanned ship is at least used for installing attitude and heading equipment to be tested and the optoelectronic equipment. According to the attitude and heading equipment performance test method and test system provided by the invention, the unmanned ship is used as a basic platform, the photoelectric load, the data recording equipment and the performance analysis software are matched, the maneuvering condition is designed, the target positioning action is executed, and the test result of the attitude and heading equipment under the dynamic condition is evaluated through data analysis, so that the disassembly-free and factory-return-free test is realized; therefore, the problems that existing attitude and heading reference equipment cannot be detected on site, needs to be disassembled and returned to a factory for verification, and needs to be installed and calibrated again subsequently are effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of attitude and navigation equipment performance testing, and in particular to an attitude and navigation equipment performance testing method and testing system. Background Art

[0002] Heading and attitude equipment is a vital component in the aerospace field. Its performance directly affects the flight safety and stability of the aircraft. Currently, most surface unmanned aircraft have optoelectronic reconnaissance capabilities. Heading and attitude reference equipment provides navigation information such as position, speed, and heading attitude for autonomous navigation of unmanned ships and optoelectronic payloads. It is an important device to ensure the safe navigation of aircraft and the successful execution of reconnaissance missions.

[0003] The detection methods of heading accuracy mainly include: using a high-precision turntable, optical gyro theodolite or high-precision inertial navigation equipment to provide a reference benchmark for calibration;

[0004] In view of the installation and use environment of unmanned aerial vehicles, at present, there is a lack of effective on-site testing methods for the heading and attitude reference equipment after loading, and the disassembly and return to the factory for calibration also faces the problem of needing to re-install and recalibrate. Therefore, it is urgent to design a heading and attitude equipment performance test method and test system to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a method and system for testing the performance of an attitude and heading device, so as to solve the above-mentioned deficiencies in the prior art.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A method and system for testing the performance of an attitude and navigation device, comprising: an attitude and navigation device performance testing system, wherein the attitude and navigation device performance testing system comprises an unmanned ship, an optoelectronic device, a data recording device, a performance analysis software and a high-precision satellite positioning device, wherein the unmanned ship is at least used to install the attitude and navigation device to be tested and the optoelectronic device, the optoelectronic device is at least used to locate a fixed target, the data recording device is at least used to record information output by the attitude and navigation device, the high-precision satellite positioning device is at least used to measure the current longitude and latitude of the unmanned ship, and the performance analysis software is at least used to process and analyze the collected data.

[0008] The data recording device is composed of a data storage module and a data transmission module. The data storage module is used to store the collected data, and the data transmission module is used to transmit the collected data.

[0009] The data recording device is also provided with an output unit, and the output unit is used to output a test report.

[0010] A method for testing the performance of an attitude device is also provided, comprising the attitude device performance testing system described in any one of the above, the testing method comprising the following steps:

[0011] S1: Installation and calibration of the heading attitude device to be tested, the heading attitude device to be tested is fixedly installed on the unmanned ship, and the optoelectronic device is fixedly installed on the unmanned ship at the same time, and then the heading attitude of the heading attitude device is corrected;

[0012] S2: Static target positioning test, the unmanned ship is moored at a fixed position, the optoelectronic device locates the fixed target, and the data recording device is used to record the latitude and longitude, target azimuth and distance output by the heading device;

[0013] S3: Rapid turning target positioning test, controlling the unmanned ship to turn rapidly clockwise and counterclockwise, during which the photoelectric device is used to locate the fixed target, and the data recording device is used to record the target azimuth and distance;

[0014] S4: Continuous circle target positioning test, controlling the unmanned boat to circle continuously in clockwise and counterclockwise directions respectively, using the photoelectric device to locate the fixed target before starting to rotate, and using the data recording device to record the target azimuth and distance; after rotating 3 or more circles in one direction, controlling the unmanned boat to stop rotating, and using the photoelectric device to locate the fixed target again, and using the data recording device to record the target azimuth and distance;

[0015] S5: Navigation target positioning test, before starting the maneuver, the optoelectronic device is used to locate the fixed target, and the target azimuth and distance are recorded using the data recording device; when controlling the unmanned boat to approach, move away from and navigate tangent to the target, the optoelectronic device is used again to locate the fixed target, and the target azimuth and distance are recorded using the data recording device again.

[0016] In S2, the static positioning performance of the heading device is evaluated by analyzing the deviation between the latitude and longitude output by the heading device and the fixed position of the unmanned ship; and the consistency of the test system is evaluated by the target azimuth and distance.

[0017] In S3, the dynamic response performance of the heading information output by the heading device is evaluated by analyzing the relationship between the target azimuth deviation and the rotation angular velocity and the rotation direction.

[0018] In S4, the orientation performance of the heading device under the continuous circling maneuvering condition is evaluated by analyzing the relationship between the target azimuth deviation and the number of rotations and the rotation direction.

[0019] In S5, the delay characteristic of the positioning information of the heading device is evaluated by analyzing the relationship between the positioning deviation and the navigation speed of the unmanned ship.

[0020] The data collected by S2, S3, S4 and S5 after the test is completed will be stored in the data storage module in the data recording device.

[0021] After storing the collected data, the data storage module will process the data to generate a test report, and the user can access the test report through the output unit.

[0022] In the above technical solution, the present invention provides a method and system for testing the performance of an attitude and heading device, which have the following beneficial effects:

[0023] (1) The performance test method and test system of the heading and attitude equipment provided by the present invention are based on an unmanned ship as a basic platform, and are equipped with an optoelectronic payload, a data recording device, and a performance analysis software. By designing maneuvering conditions and executing target positioning actions, the test results of the heading and attitude equipment under dynamic conditions are evaluated through data analysis, thereby achieving disassembly-free and factory-free testing, thereby effectively solving the problem that the existing heading and attitude reference equipment cannot be tested on-site and needs to be disassembled and returned to the factory for calibration, and the subsequent need for reinstallation and recalibration.

[0024] (2) The attitude and heading equipment performance testing method and testing system provided by the present invention can comprehensively test the accuracy performance of the attitude and heading reference equipment in actual application scenarios, improve the efficiency of testing the attitude and heading reference equipment, and thus improve the convenience of using the testing method and testing system.

[0025] (3) The attitude and navigation equipment performance testing method and testing system provided by the present invention can integrate the test data to generate a test report through the provided output unit and data storage module, and facilitate the user to export the test report, thereby improving the practicality of the test method and testing system when used. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0027] Figure 1 A schematic diagram of the test system composition structure provided for an embodiment of a method and system for testing performance of an attitude and heading device of the present invention.

[0028] Figure 2A schematic diagram of the structure of a data recording device provided in an embodiment of a method and system for testing performance of an attitude and heading device of the present invention.

[0029] Figure 3 A schematic diagram of the test method flow structure provided for an embodiment of a test method and test system for performance of an attitude and heading device according to the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0031] like Figure 1-3 As shown, an embodiment of the present invention provides a method and system for testing the performance of an attitude device, including an attitude device performance testing system, wherein the attitude device performance testing system includes an unmanned ship, an optoelectronic device, a data recording device, a performance analysis software and a high-precision satellite positioning device, wherein the unmanned ship is at least used to install the attitude device and the optoelectronic device to be tested, the optoelectronic device is at least used to locate a fixed target, the data recording device is at least used to record the information output by the attitude device, the high-precision satellite positioning device is at least used to measure the current longitude and latitude of the unmanned ship, the performance analysis software is at least used to process and analyze the collected data, the data recording device is composed of a data storage module and a data transmission module, the data storage module is used to store the collected data, the data transmission module is used to transmit the collected data, and an output unit is also provided in the data recording device, and the output unit is used to output a test report.

[0032] Specifically, in this embodiment, the unmanned boat is used as a basic test platform to install the heading and attitude equipment, the optoelectronic equipment is used to locate the fixed target, and the data recording equipment is used to collect the output data of the heading and attitude equipment, including the target azimuth, target azimuth distance, rotation angular velocity, number of rotations and rotation direction, etc. The performance analysis software compares and analyzes the collected data with the standard data to evaluate the performance indicators of the heading and attitude equipment. The output unit is used to output a detailed test report based on the performance evaluation results, thereby achieving the design of maneuvering conditions and the execution of target positioning actions, as well as evaluating the test results of the heading and attitude equipment under dynamic conditions through data analysis, so that the heading and attitude equipment can be tested without disassembly and return to the factory.

[0033] A method for testing the performance of an attitude device is also provided, comprising any one of the above-mentioned attitude device performance testing systems, the testing method comprising the following steps:

[0034] S1: Installation and calibration of the attitude and heading equipment to be tested: the attitude and heading equipment to be tested is fixedly installed on the unmanned ship, and the optoelectronic equipment is fixedly installed on the unmanned ship at the same time, and then the heading and attitude of the attitude and heading equipment are corrected;

[0035] S2: Static target positioning test, the unmanned ship is moored at a fixed position, the optoelectronic equipment locates the fixed target, and the data recording equipment records the latitude and longitude, target azimuth and distance output by the heading equipment;

[0036] In S2, the static positioning performance of the heading equipment is evaluated by analyzing the deviation between the latitude and longitude output by the heading equipment and the fixed position of the unmanned ship; and the consistency of the test system is evaluated by the target azimuth and distance;

[0037] S3: Rapid turning target positioning test, controlling the unmanned ship to turn rapidly clockwise and counterclockwise, during which the optoelectronic device is used to locate the fixed target, and the data recording device is used to record the target azimuth and distance;

[0038] In S3, the dynamic response performance of the heading information output by the heading device is evaluated, or the delay characteristics of the heading information output by the heading device are evaluated by analyzing the relationship between the target azimuth deviation and the rotation angular velocity and the rotation direction;

[0039] S4: Continuous circle target positioning test, control the unmanned boat to circle continuously in clockwise and counterclockwise directions respectively, use the photoelectric device to locate the fixed target before starting to rotate, and use the data recording device to record the target azimuth and distance; after rotating 3 or more circles in one direction, control the unmanned boat to stop rotating, use the photoelectric device to locate the fixed target again, and use the data recording device to record the target azimuth and distance;

[0040] In S4, the directional performance of the attitude and heading equipment under continuous circling maneuvers is evaluated by analyzing the relationship between the target azimuth deviation and the number of turns and the direction of turn;

[0041] S5: Navigation target positioning test: before starting the maneuver, the optoelectronic device is used to locate the fixed target, and the target azimuth and distance are recorded by the data recording device; when the unmanned ship is controlled to approach, move away from and navigate tangent to the target, the optoelectronic device is used to locate the fixed target again, and the target azimuth and distance are recorded by the data recording device again;

[0042] In S5, the delay characteristic of the positioning information of the heading equipment is evaluated by analyzing the relationship between the positioning deviation and the navigation speed of the unmanned ship. The delay characteristic is the positioning performance related to the speed;

[0043] The data collected by S2, S3, S4 and S5 after the test is completed will be stored in the data storage module in the data recording device. After storing the collected data, the data storage module will process the data to generate a test report, and the user can access the test report through the output unit.

[0044] In another embodiment provided by the present invention, the calibration method for the installation of the attitude and heading equipment to be measured is to fix the attitude and heading equipment to be measured and the optoelectronic equipment to the rear of the unmanned boat, float the unmanned boat on calm water (or level it on the shore), and then aim the bow at the distant sea surface. At the same time, after the attitude and heading equipment enters the navigation state, the optoelectronic equipment is controlled to aim at the water antenna, and the current pitch axis deflection angle of the optoelectronic equipment is used as the pitch installation deviation angle of the attitude and heading equipment;

[0045] Float the unmanned boat on calm water (or level it on the shore), aim the starboard side of the boat at the distant sea surface, put the heading equipment into navigation state, control the optoelectronic equipment to aim at the water antenna, and use the current pitch axis deflection angle of the optoelectronic equipment as the roll installation deviation angle of the heading equipment;

[0046] Then, use high-precision satellite positioning equipment to measure the accurate longitude and latitude of the fixed target on the shore in advance, and then use high-precision satellite positioning equipment to measure the current longitude and latitude of the unmanned ship, and control the optoelectronic equipment to aim at the target. The target geographic azimuth output by the optoelectronic equipment and the theoretical azimuth deflection angle calculated by the longitude and latitude are used as the azimuth installation deviation angle of the heading attitude equipment;

[0047] After completing the above-mentioned installation deviation angle calibration, the above-mentioned deviation angle is used to correct the heading attitude of the heading attitude equipment. After correction, when the unmanned ship is controlled to tilt at a fixed angle in the pitch angle and roll angle, the target positioning error can always be kept in a small range.

[0048] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A heading equipment performance test system, characterized in that: It includes a heading and attitude equipment performance test system, which includes an unmanned ship, an optoelectronic device, a data recording device, a performance analysis software and a high-precision satellite positioning device. The unmanned ship is at least used to install the heading and attitude equipment to be tested and the optoelectronic device. The optoelectronic device is at least used to locate fixed targets. The data recording device is at least used to record the information output by the heading and attitude equipment. The high-precision satellite positioning device is at least used to measure the current longitude and latitude of the unmanned ship. The performance analysis software is at least used to process and analyze the collected data.

2. A heading equipment performance test system according to claim 1, characterized in that: The data recording device is composed of a data storage module and a data transmission module. The data storage module is used to store the collected data, and the data transmission module is used to transmit the collected data.

3. A method and system for testing the performance of an attitude and heading device according to claim 2, characterized in that: The data recording device is also provided with an output unit, and the output unit is used to output a test report.

4. A method for testing the performance of an attitude device, comprising the attitude device performance testing system according to any one of claims 1 to 3, characterized in that: The testing method comprises the following steps: S1: Installation and calibration of the heading attitude device to be tested, the heading attitude device to be tested is fixedly installed on the unmanned ship, and the optoelectronic device is fixedly installed on the unmanned ship at the same time, and then the heading attitude of the heading attitude device is corrected; S2: Static target positioning test, the unmanned ship is moored at a fixed position, the optoelectronic device locates the fixed target, and the data recording device is used to record the latitude and longitude, target azimuth and distance output by the heading device; S3: Rapid turning target positioning test, controlling the unmanned ship to turn rapidly clockwise and counterclockwise, during which the photoelectric device is used to locate the fixed target, and the data recording device is used to record the target azimuth and distance; S4: Continuous circle target positioning test, controlling the unmanned boat to circle continuously in clockwise and counterclockwise directions respectively, using the photoelectric device to locate the fixed target before starting to rotate, and using the data recording device to record the target azimuth and distance; after rotating 3 or more circles in one direction, controlling the unmanned boat to stop rotating, and using the photoelectric device to locate the fixed target again, and using the data recording device to record the target azimuth and distance; S5: Navigation target positioning test, before starting the maneuver, the optoelectronic device is used to locate the fixed target, and the target azimuth and distance are recorded using the data recording device; when controlling the unmanned boat to approach, move away from and navigate tangent to the target, the optoelectronic device is used again to locate the fixed target, and the target azimuth and distance are recorded using the data recording device again.

5. A method for testing the performance of an attitude and heading device according to claim 4, characterized in that: In S2, the static positioning performance of the heading device is evaluated by analyzing the deviation between the latitude and longitude output by the heading device and the fixed position of the unmanned ship; and the consistency of the test system is evaluated by the target azimuth and distance.

6. A method for testing the performance of an attitude and heading device according to claim 4, characterized in that: In S3, the dynamic response performance of the heading information output by the heading device is evaluated by analyzing the relationship between the target azimuth deviation and the rotation angular velocity and the rotation direction.

7. A method for testing the performance of an attitude and heading device according to claim 4, characterized in that: In S4, the orientation performance of the heading device under the continuous circling maneuvering condition is evaluated by analyzing the relationship between the target azimuth deviation and the number of rotations and the rotation direction.

8. A method for testing the performance of an attitude and heading device according to claim 4, characterized in that: In S5, the delay characteristic of the positioning information of the heading device is evaluated by analyzing the relationship between the positioning deviation and the navigation speed of the unmanned ship.

9. A method for testing the performance of an attitude and heading device according to claim 4, characterized in that: The data collected by S2, S3, S4 and S5 after the test is completed will be stored in the data storage module in the data recording device.

10. A method for testing the performance of an attitude and heading device according to claim 4, characterized in that: After storing the collected data, the data storage module will process the data to generate a test report, and the user can access the test report through the output unit.

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