A method and device for testing the performance of a marine fiber-optic gyroscope compass

Abstract

The application discloses a kind of marine optical fiber gyro compass performance test testing method and device, it is related to marine navigation equipment optical fiber gyro compass test technical field, including the following steps: the main compass of marine optical fiber gyro compass is stationary and horizontally fixed on horizontal pedestal;Marine optical fiber gyro compass is started;And draw bow direction-time curve;The direction of the azimuth angle consistent with the reference line of the main compass fixed in step one is consistent with the direction that horizontal pedestal points;With true bow direction value as center line;Compare one by one;Carrying out marine optical fiber gyro compass performance test test result presents.This marine optical fiber gyro compass performance test testing method and device, by optimizing test procedure, the test precision of optical fiber gyro compass is reduced human factor error, is suitable for the accurate and rapid measurement of stability, stable time, stable point bow direction and stable point error in different directions under different environmental conditions in the process of marine optical fiber gyro compass development and test certification.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of testing technology of marine navigation equipment fiber-optic gyro compass, and particularly relates to a kind of marine fiber-optic gyro compass performance test testing method and device. BACKGROUND

[0002] As a kind of high-precision navigation equipment of marine navigation technology, marine fiber-optic gyro compass is a new type of marine compass used by modern ship navigation after the development of fiber-optic gyro technology, which can provide heading information for ship navigation.Compared with traditional mechanical gyro compass and magnetic compass, marine fiber-optic gyro compass is not only small in size and light in weight, but also more stable in long-term operation.

[0003] Chinese publication No.CN111750846A discloses a kind of marine compass and its dynamic calibration method, belonging to the field of marine carrier heading and attitude measurement, which can provide heading and attitude information for the carrier and calibrate the inclination measurement data using electronic bubble, improving the attitude measurement accuracy of inclination sensor, with the advantages of low cost, small size and high dynamic angle measurement accuracy;Chinese publication No.CN203587116U discloses a kind of fiber-optic gyro marine strapdown compass structure, which has the characteristics of compact structure and meeting the marine use environment, and the fiber-optic gyro marine strapdown compass structure designed in combination with the on-board field environment and the requirements of inertial navigation equipment has the advantages of small size and adaptability to harsh working environments such as sea salt spray and constant magnetic field.

[0004] At present, through the retrieval of the above-mentioned patents and the market, the performance test standard requirements and test methods of current domestic and foreign marine fiber-optic gyro compass are not perfect enough, and the marine fiber-optic gyro compass already installed on the ship still follows the international test method and index requirements of mechanical gyro compass, which is used as the basis for research, production and test verification. Mechanical gyro compass uses the comprehensive effect of earth rotation angular velocity and gravitational field to provide heading information for ship navigation, while marine fiber-optic gyro compass is essentially an angular rate sensor that measures angular rate using the Sagnac effect generated by laser, and calculates the heading information in combination with accelerometer. Therefore, in the process of research, production and test verification of marine fiber-optic gyro compass, the test method and technical standard of mechanical gyro compass are not applicable to some performance index requirements and test methods of marine fiber-optic gyro compass. Therefore, in the field of ship navigation equipment test technology, there is still a blank in the key performance test method of marine fiber-optic gyro compass. On the basis of unifying key performance index requirements, it is urgent to propose a kind of special test method and device for stability, stability time, stable point heading and stable point error test of marine fiber-optic gyro compass.

[0005] Therefore, the present application proposes a kind of marine fiber-optic gyro compass performance test testing method and device to solve the above-mentioned problems. SUMMARY

[0006] The main purpose of the present invention is to provide a method and device for testing the performance of a marine fiber optic gyrocompass to solve the problems raised in the above background.

[0007] To achieve the above object, the technical solution adopted by the present invention is: a method for testing the performance of a marine fiber optic gyrocompass, comprising the following steps:

[0008] Step 1: The main compass of the marine fiber optic gyrocompass is fixed statically and horizontally on a horizontal base;

[0009] Step 2: Start the marine fiber optic gyrocompass, connect the fiber optic gyrocompass heading data acquisition and recording computing device through the serial port or network port, collect and record the heading information from the start-up and record the time; the time from the start-up to the heading reading on the marine fiber optic gyrocompass display unit is the time period t0;

[0010] Step 3: After time period t0, collect the recorded heading values ​​and draw a heading-time curve for at least 25 minutes;

[0011] Step 4: After the main compass is fixed in step 1, the direction in which the reference line and the azimuth angle pointed by the horizontal base are consistent is regarded as the true heading after the main compass is installed, and the true heading value is read and input into the data acquisition and recording operation device;

[0012] Step 5: Calculate a 0.65° error band using the true heading value as the centerline, and plot it on the heading-time curve described in step 3;

[0013] Step 6: Compare the heading value collected and recorded in step 3 with the upper limit b and lower limit a of the 0.65° error band in order of sampling time, and perform calculations to determine the starting time t1 of time period t3;

[0014] Step 7: Perform a performance test of the marine fiber optic gyrocompass at the start time t1 of the time period t3 according to the calculation and judgment, and present the test results.

[0015] In one embodiment, the serial port or network port is a means for connecting to a marine fiber optic gyrocompass and transmitting data;

[0016] The data acquisition and recording operation device acquires data at a preset frequency;

[0017] The time period t0 is the time for initializing and solving the main compass, and the heading information collected and recorded before the time period t0 is discarded.

[0018] In one embodiment, the horizontal base should have an angle of 360°, an accuracy of 0.1°, set angle marks, and when installed, the 0° scale line is consistent with the meridian and points to the north.

[0019] In one embodiment, the upper limit of the 0.65° error band in step 5 is b, and the lower limit is a, then |ba|=0.65°, |ba| / 2=true heading value X T .

[0020] In one embodiment, the calculation and determination method for the start time t1 of the time period t3 in step 6 is as follows:

[0021] a. The heading value collected and recorded in step 3 of the calculation and judgment is within the upper limit b and lower limit a of the 0.65° error band described in step 5 for 10 consecutive minutes and gradually approaches the true heading value during time period t3;

[0022] b. Calculate and determine the starting time t1 of the time period t3.

[0023] In one embodiment, the starting time t1 is output and displayed on the data acquisition and recording computing device during the calculation and judgment, and is marked as "stable", indicating that the starting time t1 is the stable time of the marine fiber optic gyro compass;

[0024] If the calculation judgment of a is not established, "unstable" will be displayed on the data acquisition and recording operation device, and the test will be terminated.

[0025] In one embodiment, the time period from the start of step 2 to the starting time t1 is output and displayed on the data acquisition and recording operation device and marked as "stabilization time".

[0026] In one embodiment, after the data acquisition and recording operation device displays "stable", the heading value obtained in step 3 is continuously read for 10 minutes starting from the starting time t1, and X is performed. sph Calculate and use it as the “stable point heading”;

[0027]

[0028] Among them, X sph Indicates the heading of the stable point, represents the mean heading value from the starting time t1 to the time t2, x n Indicates the nth heading value;

[0029] Display X on the data collection and recording computing device sph and label it as “stable point heading”.

[0030] In one embodiment, X sph The value of is the same as the true heading value X in step 4. T , perform X spe Operation, which is used as the stable point error value;

[0031]

[0032] Among them, X spe Indicates the stable point error value, X T Indicates the true heading value, represents the mean error of the heading value from the starting time t1 to the time t2;

[0033] Display X on the data collection and recording computing device spe and labeled as “stable point error”.

[0034] In one embodiment, a marine fiber optic gyro compass performance test device includes a power supply system, a horizontal base, a data acquisition and recording operation device, a signal processing system, a display unit and a main compass, the horizontal base is provided with an angle mark and a fixing screw hole, the main compass is set on the horizontal base, and the main compass is provided with a reference line, the power supply system, the main compass and the signal processing system are connected via a No. 2 signal line, and the data acquisition and recording operation device, the signal processing system and the display unit are connected via a No. 1 signal line.

[0035] The present invention has the following beneficial effects:

[0036] 1. The present invention overcomes the shortcomings of the existing technology by optimizing the test process, improving the test accuracy of the fiber optic gyro compass and reducing human error. It is suitable for the precise and rapid measurement of stability, stabilization time, heading of the stabilization point, and stabilization point error in different directions under different environmental conditions during the development and test certification of the marine fiber optic gyro compass. It shortens the test time and reduces the test cost, which helps to improve the application effect and popularity of marine fiber optic gyro compass in various fields.

[0037] 2. Compared with traditional mechanical gyrocompasses and magnetic compasses, the fiber optic gyrocompass for ships of the present invention is not only small in size and light in weight, but also more stable during long-term operation, allowing ships to more accurately grasp their own heading, position and attitude information while sailing. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of a flow chart of a method for testing the performance of a marine fiber optic gyrocompass according to the present invention;

[0039] Figure 2 This is a deployment diagram of a marine fiber optic gyrocompass performance test device according to the present invention;

[0040] Figure 3 Schematic diagram of the error band of the heading-time curve of the present invention.

[0041] Figure numbers: 1. Power cord; 2. Power supply system; 3. Leveling base; 4. Angle mark; 5. Fixing screw hole; 6. Reference line; 7. Data acquisition and recording operation device; 8. Signal processing system; 9. Display unit; 10. Signal line No. 1; 11. Signal line No. 2; 12. Main compass. DETAILED DESCRIPTION

[0042] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0043] Example 1

[0044] Please refer to Figures 1 to 3 A method for testing the performance of a marine fiber optic gyrocompass is shown, the method comprising the following steps:

[0045] Step 1: The main compass 12 of the marine fiber optic gyrocompass is fixed statically and horizontally on the horizontal base 3;

[0046] Step 2: Start the marine fiber optic gyrocompass and connect the fiber optic gyrocompass heading data acquisition and recording computing device 7 through the serial port or network port. Start collecting and recording heading information and record the time from the start-up, and the time period t0 from the start-up to the time when the marine fiber optic gyrocompass display unit 9 has a heading reading (here, the heading reading is the time period t0);

[0047] Step 3: After time period t0, collect the recorded heading values ​​and draw a heading-time curve for at least 25 minutes. Optionally, time period t0 can be 25 minutes, 30 minutes, 35 minutes, 40 minutes, or 45 minutes.

[0048] Step 4: After the main compass 12 of step 1 is fixed, the direction in which the reference line 6 and the azimuth angle pointed by the horizontal base 3 are consistent is regarded as the true heading after the main compass 12 is installed. Read the true heading value X T And input into the data acquisition and recording operation device 7.

[0049] Specifically, true heading is measured from true north (000°) in a clockwise direction to 360°. When a marine fiber optic gyrocompass is not installed on a vessel, this "true heading" is considered to be the "true heading" of the fiber optic compass reference line.

[0050] Step 5: Use the true heading value X T Calculate the 0.65° error band for the centerline and plot it on the heading-time curve in step 3.

[0051] Step 6: Compare the heading value collected in step 3 with the upper limit b and lower limit a of the 0.65° error band in order of sampling time, and perform calculations to determine the starting time t1 of time period t3;

[0052] Step 7: Perform a performance test of the marine fiber optic gyrocompass at the start time t1 of the time period t3 according to the calculation and judgment, and present the test results.

[0053] The serial port or network port is the way to connect to the marine fiber optic gyrocompass and transmit data;

[0054] The data acquisition and recording operation device 7 acquires data at a preset frequency. The data acquisition frequency can be flexibly adjusted according to the test conditions, such as 20ms / time, 25ms / time, 30ms / time, 35ms / time.

[0055] Time period t0 is the initialization and solution time of the main compass 12. The heading information collected and recorded before time period t0 is discarded. During the static performance test and dynamic performance test of the marine fiber optic gyro compass, test parameters such as stability, stabilization time, and stable point heading are the basis and prerequisite for measuring other performance parameters.

[0056] The horizontal base 3 should have an angle of 360° with an accuracy of 0.1°. The angle mark 4 should be set, and when installed, the 0° scale line should be consistent with the meridian and point to the north. This can quantitatively evaluate the key performance indicators of the marine fiber optic gyro compass within the specified time and avoid the influence of errors introduced by human factors on the test results of different batches of marine fiber optic gyro compasses.

[0057] Example 2

[0058] Please refer to Figure 1 As shown in the figure: Based on the first embodiment, the upper limit of the 0.65° error band in step 5 is b, and the lower limit is a, then |ba| = 0.65°, |ba| / 2 = true heading value X T .

[0059] The calculation and determination method for the start time t1 of the time period t3 in step 6 is as follows:

[0060] a. The heading value collected and recorded in step 3 of the calculation and judgment is within the upper limit b and lower limit a of the 0.65° error band in step 5 for 10 consecutive minutes, and gradually approaches the true heading value during time period t3;

[0061] b. Calculate and determine the starting time t1 of the time period t3.

[0062] During the calculation and judgment, the starting time t1 is output and displayed on the data acquisition and recording calculation device, and marked as "stable", indicating that the starting time t1 is the stable moment of the marine fiber optic gyro compass;

[0063] If the calculation judgment of a is not established, "unstable" is displayed on the data acquisition and recording operation device 7, and the test is terminated. During the development and test certification of marine fiber optic gyrocompasses, the stability, stabilization time, heading of the stable point and the error of the stable point in different directions under different environmental conditions can be accurately and quickly measured, shortening the test time and reducing the test cost.

[0064] Example 3

[0065] Please refer to Figure 1 As shown: Based on the first embodiment, the time period from the start in step 2 to the starting time t1 (t1 time - start time) is output and displayed on the data acquisition and recording operation device 7 and marked as "stable time".

[0066] After the data acquisition and recording operation device 7 displays "stable", the heading value obtained in step 3 is read continuously from the starting time t1 to the time t3 for 10 minutes, and X sph Calculate and use it as the “stable point heading”;

[0067]

[0068] Among them, X sph Indicates the heading of the stable point, It represents the heading value from the starting time t1 to the time t2, the heading mean, x n Indicates the nth heading value;

[0069] Display X on the data collection and recording computing device 7 sph and label it as “stable point heading”.

[0070] X sph The value of is the same as the true heading value X in step 4 T , perform X spe Operation, which is used as the stable point error value;

[0071]

[0072] Among them, X spe Indicates the stable point error value, X T Indicates the true heading value, represents the mean error of the heading value from the starting time t1 to the time t2;

[0073] Display X on the data collection and recording computing device 7 spe The value of is marked as “stable point error”;

[0074] The data acquisition and recording operation device 7 includes a programmable revision device with communication, data acquisition, data processing and display functions, which improves the test accuracy of the fiber optic gyro compass and reduces human error.

[0075] A marine fiber optic gyrocompass performance test device includes a power supply system 2, a horizontal base 3, a data acquisition and recording operation device 7, a signal processing system 8, a display unit 9 and a main compass 12. The horizontal base 3 is provided with an angle mark 4 and a fixing screw hole 5. The main compass 12 is arranged on the horizontal base 3. The main compass 12 is provided with a reference line 6. The power supply system 2, the main compass 12 and the signal processing system 8 are connected via a second signal line 11. The data acquisition and recording operation device 7, the signal processing system 8 and the display unit 9 are connected via a first signal line 10.

[0076] The present invention provides a method and device for testing the performance of a marine fiber optic gyrocompass. During operation, the method comprises: first, the main compass 12 of the marine fiber optic gyrocompass is fixed to a horizontal base 3 in a stationary and horizontal state; the marine fiber optic gyrocompass is started, and the fiber optic gyrocompass heading data acquisition and recording operation device 7 is connected to the marine fiber optic gyrocompass heading data acquisition and recording operation device 7 via a serial port or a network port. Heading information is acquired and recorded from the start-up and the time is recorded. The time period t0 from the start-up to the time when the marine fiber optic gyrocompass display unit 9 has a heading reading (time period t0); after time period t0, the acquired heading value is recorded and a heading-time curve is plotted, which is plotted continuously for at least 25 minutes. After the main compass 12 is fixed in step 1, the direction in which the reference line 6 and the horizontal base 3 point in the same azimuth angle is considered the true heading of the main compass 12 after installation. The true heading value is read and input into the data acquisition and recording calculation device 7. The marine fiber optic gyrocompass is started in a horizontal and stationary state. If the difference between any heading reading and the true heading for 10 consecutive minutes (time period t3) is within the set range and less than or equal to 0.65° (error band), the marine fiber optic gyrocompass is considered to have reached a stable state at t1. A 0.65° error band is calculated with the true heading value as the centerline and plotted on the heading-time curve in step 3. The heading values ​​collected and recorded in step 3 are compared with the upper limit b and lower limit a of the 0.65° error band in order of sampling time, and a calculation is performed to determine the starting time t1 of time period t3. The stabilization time represents the time (0-t1) from the start of the marine fiber optic gyrocompass to the above-mentioned stabilization (t1). The test results of the marine fiber optic gyrocompass performance test are presented based on the starting time t1 of the calculation judgment time period t3. After the marine fiber optic gyrocompass stabilizes, the heading values ​​are continuously read for 10 minutes and the average value is taken as the heading of the stable point. The difference between the heading of the stable point and the true heading of the marine fiber optic gyrocompass is the difference between the heading of the stable point and the true heading. If the marine fiber optic gyrocompass is not installed on the ship, this "true heading" is considered to be the "true heading" of the marine fiber optic compass baseline.

[0077] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for testing the performance of a marine fiber optic gyrocompass, characterized in that: The method comprises the following steps: Step 1: The main compass (12) of the marine fiber optic gyrocompass is fixed statically and horizontally on the horizontal base (3); Step 2: Start the marine fiber optic gyrocompass, connect the marine fiber optic gyrocompass heading data acquisition and recording computing device (7) through the serial port, collect and record the heading information from the start-up and record the time; the time from the start-up to the marine fiber optic gyrocompass display unit (9) having a heading reading is the time period t0; Step 3: After time period t0, collect the recorded heading values ​​and draw a heading-time curve for at least 25 minutes; Step 4: After the main compass (12) in step 1 is fixed, the direction in which the reference line (6) and the azimuth angle pointed by the horizontal base (3) are consistent is regarded as the true heading of the main compass (12) after installation, and the true heading value is read and input into the data acquisition and recording operation device (7); Step 5: Calculate a 0.65° error band using the true heading value as the centerline, and plot it on the heading-time curve described in step 3; Step 6: Compare the heading value collected and recorded in step 3 with the upper limit b and lower limit a of the 0.65° error band in order of sampling time, and perform calculations to determine the starting time t1 of time period t3; Step 7: Perform a performance test of the marine fiber optic gyrocompass at the start time t1 of the time period t3 according to the calculation and judgment, and present the test results.

2. The method for testing the performance of a marine fiber optic gyrocompass according to claim 1, wherein: The serial port is a way to connect to the marine fiber optic gyrocompass and transmit data; The data acquisition and recording operation device (7) acquires data at a preset frequency; The time period t0 is the initialization and solution time of the main compass (12), and the heading information collected and recorded before the time period t0 is discarded.

3. The method for testing the performance of a marine fiber optic gyrocompass according to claim 1, wherein: The horizontal base (3) should have an angle of 360° with an accuracy of 0.1°, set an angle mark (4), and when installed, the 0° scale line direction is consistent with the meridian and points to the north.

4. The method for testing the performance of a marine fiber optic gyrocompass according to claim 1, wherein: The upper limit of the 0.65° error band in step 5 is b, and the lower limit is a, so |ba| = 0.65°, |ba| / 2 = true heading value X T .

5. The method for testing the performance of a marine fiber optic gyrocompass according to claim 1, wherein: The calculation and determination method for the start time t1 of the time period t3 in step 6 is as follows: a. The heading value collected and recorded in step 3 of the calculation and judgment is within the upper limit b and lower limit a of the 0.65° error band described in step 5 for 10 consecutive minutes and gradually approaches the true heading value during time period t3; b. Calculate and determine the starting time t1 of the time period t3.

6. The method for testing the performance of a marine fiber optic gyrocompass according to claim 5, wherein: During the calculation and judgment, the starting time t1 is output and displayed on the data acquisition and recording calculation device, and marked as "stable", indicating that the starting time t1 is the stable time of the marine fiber optic gyro compass; If the calculation judgment of a is not established, "unstable" is displayed on the data acquisition and recording calculation device (7) and the test is terminated.

7. The method for testing the performance of a marine fiber optic gyrocompass according to claim 1, wherein: The time period from the start of step 2 to the starting time t1 is output and displayed on the data acquisition and recording operation device (7) and marked as "stabilization time".

8. The method for testing the performance of a marine fiber optic gyrocompass according to claim 7, wherein: After the data acquisition and recording operation device (7) displays "stable", the heading value obtained in step 3 is read continuously for 10 minutes starting from the starting time t1, and X sph Calculate and use it as the "stable point heading"; Among them, X sph represents the heading value of the stable point, represents the mean heading value from the starting time t1 to the time t2, x n Indicates the nth heading value; Display X on the data collection and recording computing device (7) sph and label it as "stable point heading".

9. The method for testing the performance of a marine fiber optic gyrocompass according to claim 8, wherein: X sph The value of is the same as the true heading value X in step 4. T , perform X spe Operation, which is used as the stable point error value; Among them, X spe Indicates the stable point error value, X T Indicates the true heading value, represents the mean error of the heading value from the starting time t1 to the time t2; Display X on the data collection and recording computing device (7) spe and labeled as "stable point error".

10. A marine fiber optic gyro compass performance test device, using the marine fiber optic gyro compass performance test method according to any one of claims 1 to 9, characterized in that: The device comprises a power supply system (2), a horizontal base (3), a data acquisition and recording operation device (7), a signal processing system (8), a display unit (9) and a main compass (12); the horizontal base (3) is provided with an angle mark (4) and a fixing screw hole (5); the main compass (12) is arranged on the horizontal base (3); the main compass (12) is provided with a reference line (6); the power supply system (2), the main compass (12) and the signal processing system (8) are connected via a second signal line (11); the data acquisition and recording operation device (7), the signal processing system (8) and the display unit (9) are connected via a first signal line (10).

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