ARPA system correction method and device, equipment and storage medium

Abstract

The invention relates to an ARPA system correction method, device and equipment and a storage medium, and is applied to the field of ship navigation, and the method comprises the following steps: capturing an angle correction target, and controlling a ship body to circumferentially sail around the angle correction target; when the ship body sails circumferentially, angle test data are collected, a global angle deviation value is calculated according to the angle test data, and the global angle deviation value is compensated to an ARPA system of the ship body; capturing a time correction target, and collecting static position data of the time correction target in a ship body static state; controlling the ship body to rotate according to a preset rotating speed, and acquiring dynamic position data and inertial navigation angular velocity of the time correction target in a rotating state of the ship body; and calculating a global time deviation value according to the static position data and the dynamic position data of the time correction target and the inertial navigation angular velocity, and compensating the global time deviation value to an ARPA system of the ship body. The technical effect of the invention is that the system correction can be automatically carried out without the help of external equipment.

Description

Technical Field

[0001] The present application relates to the technical field of ship navigation and radar, and in particular to an ARPA system calibration method, device, equipment and storage medium. Background Art

[0002] The ARPA system, that is, the marine automatic radar plotting aid system, is a core device for ship navigation and collision avoidance. By integrating multi-sensor data, including radar target detection data and inertial navigation data (such as heading, course, speed, angular velocity, longitude and latitude), it can calculate key parameters such as the position information (longitude and latitude), motion information (speed and course), DCPA (minimum distance of closest approach), and TCPA (time to closest point of approach) of the target ship in real time. However, the systematic errors caused by the multi-sensor reference deviation will affect the ARPA measurement accuracy for a long time, specifically manifested as the angle reference deviation and the time reference deviation.

[0003] The angle reference deviation is formed by the superposition of the relative angle measurement error of the radar (such as the mechanical deviation of the radar antenna), the absolute angle measurement error of the inertial navigation (such as gyro drift), and the equipment installation angle deviation (such as the radar and the inertial navigation not being strictly aligned); the time reference deviation is caused by the independent clock sources of the radar and the inertial navigation, and the inconsistent data processing delays, resulting in a time stamp deviation during fusion.

[0004] The existing ARPA system calibration methods usually rely on external devices for calibration. For example, a calibrated ship is used to calibrate the angle deviation, and an external high-precision clock source is used to calibrate the time deviation. However, the system calibration using external devices has low efficiency and poor flexibility. Summary of the Invention

[0005] In order to help solve the problems of low efficiency and poor flexibility in system calibration relying on external devices, the present application provides an ARPA system calibration method, device, equipment and storage medium.

[0006] In a first aspect, the present application provides an ARPA system calibration method, adopting the following technical solution: The method includes:

[0007] Capture a preset angle calibration target, and control the hull to sail in a circle around the angle calibration target;

[0008] When the hull sails in a circle, collect angle test data, calculate a global angle deviation value according to the angle test data, and compensate the global angle deviation value to the ARPA system of the hull;

[0009] Capture a preset time calibration target, and collect the static position data of the time calibration target when the hull is in a static state;

[0010] Control the hull to rotate at a preset rotational speed, and collect the dynamic position data and inertial navigation angular velocity of the time correction target while the hull is in a rotating state;

[0011] Calculate the global time deviation value based on the static position data and dynamic position data of the time correction target and the inertial navigation angular velocity, and compensate the global time deviation value to the ARPA system of the hull.

[0012] In a specific feasible implementation, the collecting angle test data, calculating the global angle deviation value according to the angle test data, and compensating the global angle deviation value to the ARPA system of the hull includes:

[0013] Collect several groups of angle test data at preset navigation intervals, and calculate and update the global angle deviation value in real time according to the several groups of angle test data;

[0014] Judge whether the updated global angle deviation value reaches the preset angle deviation convergence condition;

[0015] If the updated global angle deviation value does not reach the preset angle deviation convergence condition, control the hull to continue to perform circular navigation, collect angle test data, and calculate and update the global angle deviation value in real time;

[0016] If the updated global angle deviation value reaches the preset angle deviation convergence condition, compensate the global angle deviation value that reaches the angle deviation convergence condition to the ARPA system of the hull;

[0017] The angle deviation convergence condition is that the hull performs circular navigation for not less than half a circle, and the global angle deviation value is less than the preset angle.

[0018] In a specific feasible implementation, the collected angle test data includes the hull position, radar ranging value, radar angle measurement value, and inertial navigation heading angle;

[0019] The calculating and updating the global angle deviation value in real time according to the several groups of angle test data includes:

[0020] Adopt the least squares method to calculate the target true position of the angle correction target according to all the angle test data collected currently;

[0021] Calculate the theoretical azimuth angle according to the target true position and the currently collected hull position;

[0022] Calculate the single-point angle error value of the test point corresponding to the currently collected angle test data according to the currently collected radar angle measurement value and the currently calculated theoretical azimuth angle;

[0023] Calculate the global angle deviation value based on the single-point angle error values of all the currently collected test points;

[0024] When collecting the angle test data of the next test point, recalculate and update the global angle deviation value.

[0025] In a specific feasible implementation, the calculation method of the target true position includes:

[0026]

[0027] where i is the label of the collected angle test data, and N is the number of groups of all the currently collected angle test data; (x i , y i ) is the hull position collected currently, R i is the radar ranging value collected currently, and (x0, y0) is the calculated target true position;

[0028] The calculation method of the theoretical azimuth angle includes:

[0029] θ true，i = arctan((y i - y0) / (x i - x0)) - φ i ;

[0030] where φ i is the inertial navigation heading angle collected currently, (x i , y i ) is the hull position collected currently, (x0, y0) is the target true position, and θ true，i is the current theoretical azimuth angle;

[0031] The calculation method of the current single-point angle error value includes:

[0032] Δθ i = θ i - θ true,i ;

[0033] where θ i is the radar angle measurement value collected currently, θ true，i is the current theoretical azimuth angle, and Δθ i is the current single-point angle error value;

[0034] The calculation method of the global angle deviation value includes:

[0035]

[0036] where i is the label of the collected angle test data, N is the number of groups of all the currently collected angle test data, and Δθ i is the current single-point angle error value, and Δθ avg is the global angle deviation value.

[0037] In a specific feasible implementation, the time correction target includes a first time correction target and a second time correction target; the static position data of the time correction target includes first static position data and second static position data, and the dynamic position data of the time correction target includes first dynamic position data and second dynamic position data.

[0038] In a specific feasible implementation, calculating the global time deviation value based on the static position data and dynamic position data of the time correction target and the inertial navigation angular velocity, and compensating the global time deviation value to the ARPA system of the hull includes:

[0039] Calculating the included angle between the connection line of the first time correction target and the second time correction target and the due north direction in the static state according to the first static position data and the second static position data;

[0040] The calculation method of the included angle in the static state includes:

[0041]

[0042] where (x A0 , y A0 ) is the first static position data, and (x B0 , y B0 ) is the second static position data, is the included angle in the static state;

[0043] When the hull rotates and operates, collect several groups of time test data at a preset operation interval, and calculate and update the global time deviation value in real time according to the several groups of time test data;

[0044] Judge whether the updated global time deviation value reaches the preset time deviation convergence condition;

[0045] If the updated global time deviation value does not reach the preset time deviation convergence condition, control the hull to continue rotating, collect time test data, and calculate and update the global time deviation value in real time;

[0046] If the updated global time deviation value reaches the preset time deviation convergence condition, compensate the global time deviation value that reaches the time deviation convergence condition to the ARPA system of the hull;

[0047] The time deviation convergence condition is that the number of groups of the collected time test data is not less than a preset number of groups, and the global time deviation value is less than a preset threshold.

[0048] In a specific feasible implementation, the real-time calculation and update of the global time deviation value according to several groups of the time test data includes:

[0049] Calculating a current rotation angle between the line connecting the first target of time correction and the second target of time correction and the due north direction according to the currently collected first dynamic position data and second dynamic position data under the hull rotation state;

[0050] The calculation method of the current rotation angle includes:

[0051]

[0052] where (x Ai , y Ai ) is the currently collected first dynamic position data, and (x Bi , y Bi ) is the currently collected second dynamic position data, is the current rotation angle;

[0053] Calculating a single-point time error value of a test point corresponding to the currently collected time test data according to the current rotation angle, the static state angle, and the currently collected inertial navigation angular velocity;

[0054] The calculation method of the single-point time error includes:

[0055]

[0056] where is the current rotation angle, is the static state angle, ω i is the currently collected inertial navigation angular velocity, and Δt i is the single-point time error value;

[0057] Calculating the global time deviation value according to the single-point time error values of all the currently collected test points;

[0058] The calculation method of the global time error value includes:

[0059]

[0060] where i is the label of the collected time test data, N is the number of groups of all the currently collected time test data, Δt i is the single-point time error value, and Δt avg is the global time error value;

[0061] When collecting time test data at the next test point, recalculate and update the global time deviation value.

[0062] In a second aspect, the present application provides an ARPA system calibration device, which adopts the following technical solution: The device includes:

[0063] An angle target capture module, configured to capture a preset angle calibration target and control the hull to perform a circular voyage around the angle calibration target;

[0064] An angle deviation calculation module, configured to collect angle test data when the hull performs a circular voyage, calculate a global angle deviation value according to the angle test data, and compensate the global angle deviation value to the ARPA system of the hull;

[0065] A time target capture module, configured to capture a preset time calibration target and collect static position data of the time calibration target in a stationary state of the hull;

[0066] A dynamic data acquisition module, configured to control the hull to rotate at a preset rotational speed and collect dynamic position data of the time calibration target and inertial navigation angular velocity in a rotating state of the hull;

[0067] A time deviation calculation module, configured to calculate a global time deviation value according to the static position data and dynamic position data of the time calibration target and the inertial navigation angular velocity, and compensate the global time deviation value to the ARPA system of the hull.

[0068] In a third aspect, the present application provides a computer device, which adopts the following technical solution: It includes a memory and a processor, and a computer program capable of being loaded and executed by the processor, such as any one of the above ARPA system calibration methods, is stored on the memory.

[0069] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: It stores a computer program capable of being loaded and executed by the processor, such as any one of the above ARPA system calibration methods.

[0070] In summary, the present application has the following beneficial technical effects:

[0071] 1. Get rid of the dependence on external cooperation targets: Utilize natural or artificial fixed targets (such as buoys, lighthouses), and construct an error observation model through their static characteristics (speed = 0, no change in course), replacing the traditional complex scheme that requires a calibration ship, and realizing online calibration without relying on dedicated equipment;

[0072] 2. Solve the problem of multi-error-source coupling: For the dynamic coupling problem of radar angle measurement hardware error, inertial navigation course drift error and mechanical installation deviation, a joint solution model is proposed to achieve synchronous online calibration of the three errors and eliminate the error chain accumulation caused by traditional step-by-step calibration.

[0073] 3. Get rid of the dependence on external synchronous clock sources: By fixing the multi-period observation data of two targets and inferring the time deviation from the change of the included angle between the two-target connection line, it replaces the complex scheme that requires an external synchronous clock source in the traditional way, and there is no need to install a special interface module.

[0074] 4. Solve the decoupling problem of time error and angle error: Separate the time deviation and radar angle measurement error through the change of the included angle between the two-target connection line.

[0075] 5. Real-time automatic calculation: The ARPA system automatically records data and calculates the deviation in real time, reducing manual intervention. Brief Description of the Drawings

[0076] Figure 1 is a flowchart of the ARPA system calibration method in an embodiment of the present application;

[0077] Figure 2 is a schematic diagram of the theoretical azimuth angle in an embodiment of the present application;

[0078] Figure 3 is a schematic diagram of the included angle between the two-target connection line and the due north direction in an embodiment of the present application;

[0079] Figure 4 is a schematic diagram of the ARPA system calibration device in an embodiment of the present application;

[0080] Figure 5 is a schematic diagram for embodying a computer device in an embodiment of the present application.

[0081] Reference Signs: 401, angle target capture module; 402, angle deviation calculation module; 403, time target capture module; 404, dynamic data acquisition module; 405, time deviation calculation module. Detailed Description of the Embodiment

[0082] The following is a further detailed description of the present application in conjunction with Figures 1-5 to further illustrate the present application in detail.

[0083] An embodiment of the present application discloses an ARPA system calibration method, which is applicable to eliminating the influence of the angle reference error and time reference error of radar and inertial navigation equipment on the accuracy of the ARPA system. By adopting this method, it is possible to calibrate the ARPA system of the hull in two dimensions of angle and time without relying on external equipment; getting rid of the dependence on external equipment, improving the accuracy, efficiency and applicability of system calibration, and reducing the calibration cost and operation complexity.

[0084] The ARPA system, namely the Marine Automatic Radar Plotting Aid system, is a core device for ship navigation and collision avoidance. By fusing multi-sensor data, including radar target detection data and inertial navigation data (such as heading, course, speed, angular velocity, longitude and latitude), it can calculate key parameters such as the position information (longitude and latitude), motion information (speed and course), DCPA (Closest Point of Approach), and TCPA (Time to Closest Point of Approach) of the target ship in real time. However, the systematic errors caused by the multi-sensor reference deviation will long-term affect the ARPA measurement accuracy, specifically manifested as the angle reference deviation and the time reference deviation, which are the errors between the radar and the inertial navigation equipment. The angle reference deviation is formed by the superposition of the relative angle measurement error of the radar (such as the mechanical deviation of the radar antenna), the absolute angle measurement error of the inertial navigation (such as gyro drift), and the equipment installation angle deviation (such as the radar and the inertial navigation not being strictly aligned). The time reference deviation is caused by the independent clock sources of the radar and the inertial navigation, and the inconsistent data processing delays, resulting in a time stamp deviation during fusion.

[0085] Existing ARPA system calibration methods usually rely on external devices for calibration. For example, for the calibration of the angle deviation, the cooperative ship comparison method is used, that is, a calibration ship equipped with high-precision positioning equipment (such as differential GPS, laser rangefinder) is used as a reference target, and the ARPA output data is compared with the measured data of the calibration ship to inversely calculate the system error coefficient; for the time deviation calibration, an external clock source is required, that is, an external high-precision clock source (such as GPS, Beidou satellite) is used as a unified time reference, and the time of different devices is synchronized through a hardware signal (such as PPS pulse).

[0086] However, using external devices for system calibration has low efficiency and poor flexibility. For the calibration of the angle reference deviation, first, the method depends on the positioning reference of the external calibration ship (such as differential GPS), which is costly and complex to operate; second, it is impossible to separate the coupled effects of multiple error sources (radar angle measurement, inertial navigation drift, installation deviation), resulting in limited calibration accuracy; in addition, the efficiency of manually recording data is low, and it is difficult to achieve dynamic real-time calibration. For the calibration of the time reference deviation, a dedicated clock interface module needs to be installed for the radar and the inertial navigation, which is difficult to be flexibly applied in the actual deployment of ships. To help improve the efficiency and flexibility of system calibration, this application provides an ARPA system calibration method.

[0087] Refer to Figure 1 , the method includes the following steps:

[0088] S10, capture a preset angle calibration target, and control the hull to sail in a circle around the angle calibration target.

[0089] Specifically, by artificially selecting an angle calibration target, which is generally a fixed target and can be a natural or artificial fixed target (such as a buoy, lighthouse, etc.), the hull is controlled to perform a circular voyage around the selected angle calibration target, and the angle calibration of the ARPA system is achieved by utilizing the stationary characteristics of the fixed target. After artificially selecting the fixed target for angle calibration, the information of the selected fixed target is transmitted to the ARPA system. The ARPA system captures the fixed angle calibration target and performs stable tracking, and stable tracking needs to last for more than 30 seconds to ensure that the system can stably track the target.

[0090] It should be noted that the selected fixed target needs to meet certain conditions: the fixed angle calibration target is located in open water, and the reflection area of the buoy is not less than a certain area range, such as 10m 2 ; in addition, the radar echo is stable after the radar wave is incident on the object surface to ensure that the radar can stably track the target.

[0091] The circular voyage of the hull operates according to the preset voyage path range and voyage speed; specifically, the circular voyage path can be centered on the selected angle calibration target (center) and perform a circular voyage along a circle with a radius of 50 meters - 150 meters, and the voyage speed ≤ 3 knots. The hull performs circular motion to cover the 360° range of the selected angle calibration target. Among them, the radius and voyage speed of the circular voyage can be set within a suitable range by the user according to actual needs. The radius should not be too large, as an overly large radius may lead to a too long voyage distance and too long calibration time. The radius should not be too small either, as an overly small radius may not reach the radar detection area, resulting in the radar being unable to detect the angle calibration target. In addition, considering that in the actual operation process, it is difficult for the hull to perform circular voyage along the trajectory of a standard circle, when the circular voyage is performed with a radius of 50 meters - 150 meters, the actual voyage radius will fluctuate based on the selected radius.

[0092] S20. When the hull performs circular voyage, collect angle test data, calculate the global angle deviation value based on the angle test data, and compensate the global angle deviation value to the ARPA system of the hull.

[0093] Specifically, when the hull performs circular voyage, collect angle test data in real time. The collected angle test data includes the hull position (x i , y i ), the radar ranging value (R i ), the radar angle measurement value (θ i ), and the inertial navigation heading angle (φ i)。For each new set of test data, the system will calculate and update the global angle deviation value in real time based on the data of all test points collected currently, and compensate the finally calculated global angle deviation value that meets the conditions to the ARPA system of the hull. By writing the ARPA system parameters, the correction of the angle deviation is completed.

[0094] It should be noted that the position of the hull collected is the position of the hull in the longitude and latitude coordinate system collected by the inertial navigation of the hull. Through coordinate system conversion, the longitude and latitude values are converted into the values of the horizontal and vertical coordinate axes in the rectangular coordinate system; the radar ranging value and the radar angle measurement value are the distance value and the angle value measured by the radar on the hull for a selected target. The radar ranging value and the radar angle measurement value measured by the radar are the distance value and the angle value in polar coordinates, which need to be converted into rectangular coordinates that can be calculated in actual calculations.

[0095] S30. Capture the preset time correction target and collect the static position data of the time correction target when the hull is in a static state.

[0096] Specifically, by artificially selecting a suitable fixed time correction target, natural or artificial fixed targets (such as buoys, lighthouses, etc.) can be selected, and the time correction of the ARPA system is realized by using the static characteristics of the fixed target. After artificially selecting the fixed target for time correction, the information of the selected fixed target is transmitted to the ARPA system, and the ARPA system captures the fixed time correction target and performs stable tracking.

[0097] In the embodiment of the present application, the time correction target adopts a dual target, that is, two fixed targets need to be selected during time correction, and the two selected fixed targets need to meet certain conditions: the fixed time correction target is located in open water, and the reflection area of the buoy is not less than a certain area range, such as 10m 2; The distance between two time correction targets should be no less than a preset threshold. For example, the distance between two time correction targets ≥ 500 meters to ensure that the angular measurement accuracy of the line connecting the two targets is less than 0.1°. The distances and angles between the two time correction targets and the hull are within a preset reasonable range. For example, the distance between the time correction target and the hull is within the range of [50, 500] meters, and the included angles between the lines connecting the two time correction targets and the hull are within the range of [90°, 120°]. The included angle range is set within [90°, 120°] because if the included angle is less than 90°, the deviation angle generated by rotation is too small, and the measured deviation value is too small, resulting in difficulty in detecting the fluctuation value. In addition, since it is difficult to ensure that the rotation speed of the hull is absolutely uniform and can only be approximately uniform within a short period of time, the upper limit of 120° is set. Among them, the set ranges of the distance between the two time correction targets, the distance between the time correction target and the hull, and the included angles between the lines connecting the two time correction targets and the hull in the embodiments of the present application are only for illustrative purposes. In actual applications, users can set according to the actual equipment conditions and requirements, and there is no limitation here.

[0098] When collecting the static position data of the time correction target in the static state of the hull, due to the selected dual targets, that is, the first time correction target A and the second time correction target B are included, so the static position data of the two fixed targets will be collected, which are the first static position data (x A0 , y A0 ) and the second static position data (x B0 , y B0 ).

[0099] It should be noted that the static positions of the collected dual targets are the positions of the dual targets in the longitude and latitude coordinate system collected by the inertial navigation of the hull. Through coordinate transformation, the longitude and latitude values are converted into the values of the horizontal and vertical coordinate axes in the rectangular coordinate system.

[0100] S40. Control the hull to rotate at a preset speed, and collect the dynamic position data of the time correction target and the inertial navigation angular velocity in the rotating state of the hull.

[0101] Specifically, control the hull to rotate at a preset speed. Specifically, the hull rotates in place with itself as the center, and the angular velocity of the hull is controlled at 3° / s. In actual applications, the setting of the ship speed can be set according to the actual situation. The set 3° / s in this application is only for illustrative purposes, and the specific value is not limited here. In the rotating state of the hull, collect the dynamic position data of the time correction target and the inertial navigation angular velocity. Considering the dual targets used, therefore, two dynamic position data corresponding to the first time correction target A and the second time correction target B will be collected, the first dynamic position data (x Ai , y Ai ) and the second dynamic position data (xBi ,y Bi ), and the inertial angular velocity ω i Among them, the inertial navigation angular velocity reflects the angular velocity of the ship; the dynamic positions of the dual targets collected are the positions of the dual targets in the longitude and latitude coordinate system collected by the inertial navigation of the ship. Through the coordinate system conversion, the longitude and latitude values are converted into the values of the horizontal and vertical coordinate axes in the rectangular coordinate system.

[0102] S50, calculating a global time deviation value according to the static position data and dynamic position data of the time correction target and the inertial navigation angular velocity, and compensating the global time deviation value to the ARPA system of the hull.

[0103] Specifically, the system will calculate and update the global time deviation value in real time based on the data of all test points currently collected, including the position data in the rotating state, the static position data in the stationary state, and the inertial navigation angular velocity. The system will then compensate the ARPA system of the ship with the final calculated global time deviation value that meets the conditions, and complete the correction of the time deviation by writing the ARPA system parameters.

[0104] In the present application, natural or artificial fixed targets (such as buoys, lighthouses) are used to construct error observation models through their static characteristics (speed = 0, no change in heading), replacing the traditional complex solutions that require calibration ships and external synchronous clock sources, eliminating the reliance on external equipment, improving the efficiency of correction, and the flexibility and applicability of applications. In addition, no manual intervention is required during the angle and time correction process, reducing manual intervention to improve correction efficiency and correction accuracy.

[0105] In one embodiment, the method of collecting angle test data, calculating the global angle deviation value according to the angle test data, and compensating the global angle deviation value to the ARPA system of the hull can be specifically performed as follows:

[0106] First, several groups of angle test data are collected at preset navigation intervals, and the global angle deviation value is calculated and updated in real time based on the several groups of angle test data. Specifically, data can be collected and recorded every time the hull rotates a certain angle, wherein the angle setting should not be too large. If the angle setting is too large, the amount of data collected will be too small, which will affect the correction accuracy; in the embodiment of the present application, data is collected and recorded every time the hull rotates 1°, and the hull rotates 360° around a fixed target, then 360 groups of angle test data of test points will be recorded. Every time the angle test data of a group of test points is collected, the global angle deviation value will be calculated and updated.

[0107] After updating the global angle deviation value, it is determined whether the updated global angle deviation value reaches the preset angle deviation convergence condition. Among them, the angle deviation convergence condition is that the hull sails circumferentially for no less than half a circle, and the global angle deviation value is less than the preset angle; determining that the hull runs for no less than half a circle can be determined by the number of data groups collected. For example, in the embodiment of the present application, data is collected and recorded every time the hull rotates 1°. When the hull rotates 360° around a fixed target, 360 groups of angle test data of test points will be recorded. Then at least 180 groups of data need to be collected; the preset angle can be set by the user himself. In the embodiment of the present application, it is set to 0.1°. That is, the angle deviation convergence condition in the embodiment of the present application is that the number of angle test data groups ≥ 180, and the global angle deviation value < 0.1°.

[0108] If the updated global angle deviation value does not reach the preset angle deviation convergence condition, the hull is controlled to continue circumferential navigation, angle test data is collected, and the global angle deviation value is calculated and updated in real time for re-judgment until the measured global angle deviation value reaches the set convergence condition; if the updated global angle deviation value reaches the preset angle deviation convergence condition, the global angle deviation value that reaches the angle deviation convergence condition is compensated to the ARPA system of the hull.

[0109] In the solution of the present application, the accuracy of the finally calculated global angle deviation value is ensured by calculating the global angle deviation value in real time and performing convergence judgment, so as to improve the accuracy of ARPA angle correction and the measurement accuracy of the ARPA system in practical applications.

[0110] In one embodiment, the method of calculating and updating the global angle deviation value according to several groups of angle test data can be specifically executed as follows:

[0111] First, the least squares method is used to calculate the target true position of the angle correction target according to all the currently collected angle test data. Specifically, the true position of the angle correction target is (x0, y0), the position of the hull collected at the current test point is (x i , y i ), and the radar ranging value collected at the current test point is R i . Then a geometric model for calculating the target true position can be constructed:

[0112] (x i -x0) 2 +(y i -y0) 2 =R i 2 ;

[0113] If the angular test data of N test points are currently collected, the least squares method can be used to solve the true position of the target. An overdetermined system of equations is constructed through N test points to minimize the sum of the squares of the residuals, so that the true position (x0, y0) of the target can be solved. The calculation method of the least squares method can be expressed as:

[0114]

[0115] where i is the label of the collected angular test data, and N is the number of groups of all the currently collected angular test data; (x i , y i ) is the position of the hull currently collected, R i is the radar ranging value currently collected, and (x0, y0) is the true position of the target calculated.

[0116] After calculating the current true position (x0, y0) of the target, calculate the theoretical azimuth angle according to the true position of the target and the currently collected hull position; specifically, referring to Figure 2 , the theoretical azimuth angle can be understood as taking the due north as the Y-axis and the due east as the X-axis, connecting the hull and the target, and the angle from the due north direction clockwise to the line connecting the hull and the target. The calculation method of the theoretical azimuth angle can be expressed as:

[0117] θ true，i = arctan((y i - y0) / (x i - x0)) - φ i ;

[0118] where φ i is the inertial heading angle currently collected, (x i , y i ) is the position of the hull currently collected, (x0, y0) is the true position of the target, and θ true，i is the current theoretical azimuth angle.

[0119] After calculating the theoretical azimuth angle, calculate the single-point angle error value of the test point corresponding to the currently collected angular test data according to the currently collected radar angle measurement value and the currently calculated theoretical azimuth angle. Specifically, the calculation method of the current single-point angle error value can be expressed as:

[0120] Δθ i = θ i - θ true,i ;

[0121] where θ i is the currently collected radar angle measurement value, θ true，i is the current theoretical azimuth angle, and Δθ i is the current single-point angle error value.

[0122] After that, the global angle deviation value is calculated based on the single-point angle error values of all the currently collected test points. Specifically, the calculation method of the global angle deviation value can be expressed as:

[0123]

[0124] where i is the label of the collected angle test data, N is the number of groups of all the currently collected angle test data, Δθ i is the current single-point angle error value, and Δθ avg is the global angle deviation value.

[0125] Finally, it is judged whether Δθ avg satisfies the angle deviation convergence condition. If not, when collecting the angle test data of the next test point, the global angle deviation value is recalculated and updated.

[0126] In this application, by combining the radar ranging accuracy (±5 m) and the inertial navigation positioning accuracy (±1 m), the error sources are separated through geometric calculation.

[0127] In the solution of this application, for the dynamic coupling problem of the radar angle measurement hardware error, the inertial navigation heading drift error, and the mechanical installation deviation, through the joint calculation model, the synchronous online correction of the three errors is realized, the error chain accumulation caused by traditional step-by-step calibration is eliminated, and the online correction without relying on special equipment is realized.

[0128] In one embodiment, the way of calculating the global time deviation value based on the static position data and the dynamic position data of the time correction target and the inertial navigation angular velocity, and compensating the global time deviation value to the ARPA system of the hull can be specifically implemented as:

[0129] First, calculate the static state angle between the connection line of the first time correction target and the second time correction target and the true north direction according to the first static position data and the second static position data; since the hull is in a static state, the heading angle of the inertial navigation remains unchanged, and the measured connection line angle value can be regarded as the true value, and the connection line angle is as Figure 3 shown. Specifically, the calculation method of the static state angle can be expressed as:

[0130]

[0131] where (x A0 , y A0 ) is the first static position data, (x B0 , y B0 ) is the second static position data, is the static state angle.

[0132] After that, when the hull rotates, several groups of time test data are collected at preset operation intervals, and the global time deviation value is calculated and updated in real time according to the several groups of time test data. Specifically, data can be collected and recorded when the hull rotates a certain angle; in the embodiment of the present application, the time test data of the test point is collected once every 10° rotation. The rotation angle can be set by the user according to actual needs and is not limited here. Each time a group of time test data of the test point is collected, a calculation and update of the global time deviation value will be performed once.

[0133] After updating the global time deviation value, it is judged whether the updated global time deviation value reaches the preset time deviation convergence condition. Among them, the time deviation convergence condition is that the number of groups of the collected time test data is not less than the preset number of groups, and the global time deviation value is less than the preset threshold; the number of groups of test data and the threshold of time deviation can be set by the user himself and are not limited here. In the embodiment of the present application, the number of data groups is set to 100, and the preset threshold of time deviation is set to 1 ms. That is, in the embodiment of the present application, the set time deviation convergence condition is that the number of groups of time test data ≥ 100, and the global time deviation value < 1 ms.

[0134] If the updated global time deviation value does not reach the preset time deviation convergence condition, the hull is controlled to continue rotating, time test data is collected, and the global time deviation value is calculated and updated in real time until the calculated global time deviation value reaches the time deviation convergence condition; if the updated global time deviation value reaches the preset time deviation convergence condition, the global time deviation value that reaches the time deviation convergence condition is compensated to the ARPA system of the hull.

[0135] In the solution of the present application, by fixing the multi-period observation data of the double targets and inferring the time deviation through the change of the included angle between the two-target connection lines, it replaces the traditional complex scheme that requires an external synchronous clock source. Considering that there is no need to install a dedicated interface module, the calibration cost can be reduced, and at the same time, the calibration efficiency, calibration accuracy, and actual applicability can be improved.

[0136] In one embodiment, the method of calculating and updating the global time deviation value in real time according to several groups of time test data can be specifically executed as follows:

[0137] First, calculate the current rotation angle between the connection line of the first time correction target and the second time correction target and the due north direction according to the currently collected first dynamic position data and the currently collected second dynamic position data under the rotation state of the hull. Specifically, the current rotation angle The calculation method includes:

[0138]

[0139] Among them, (x Ai, y Ai ) is the current first dynamic position data, (x Bi , y Bi ) is the current second dynamic position data, is the current rotation angle.

[0140] After measuring the current rotation angle, calculate the single-point time error value of the test point corresponding to the currently collected inertial navigation angular velocity according to the current rotation angle, the static state angle, and the currently collected inertial navigation angular velocity. Specifically, the calculation method of the single-point time error includes:

[0141]

[0142] Among them, is the current rotation angle, is the static state angle, is the currently collected inertial navigation angular velocity, Δt i is the single-point time error value.

[0143] After that, calculate the global time deviation value according to the single-point time error values of all the currently collected test points. Specifically, the calculation method of the global time error value includes:

[0144]

[0145] Among them, i is the label of the collected time test data, N is the number of groups of all the currently collected time test data, Δt i is the single-point time error value, Δt avg is the global time error value.

[0146] Finally, judge whether Δt avg meets the time deviation convergence condition. If not, when collecting the time test data of the next test point, recalculate and update the global time deviation value.

[0147] In the solution of this application, utilize the linear sensitivity of the double-target connection line angle to the time deviation, and compensate for the insufficient radar angle resolution through the distance resolution advantage; in addition, based on the multi-point data fusion of the rotation angular velocity and the angle difference, achieve high-precision time deviation estimation and improve the correction accuracy of the time deviation.

[0148] Figure 1 is the flow chart of the ARPA system correction method in an embodiment. It should be understood that although Figure 1 the steps in the flow chart are shown in sequence according to the indication of the arrow, these steps are not necessarily executed in the order indicated by the arrow; unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders; and Figure 1At least a part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed and completed at the same moment, but can be executed at different moments. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or in rotation with at least a part of other steps or sub-steps or stages of other steps.

[0149] Based on the above method, an embodiment of the present application also discloses an ARPA system calibration device.

[0150] Referring to Figure 4 , the device includes the following modules:

[0151] An angle target capture module 401, configured to capture a preset angle calibration target and control the hull to perform a circumferential voyage around the angle calibration target;

[0152] An angle deviation calculation module 402, configured to collect angle test data during the circumferential voyage of the hull, calculate a global angle deviation value according to the angle test data, and compensate the global angle deviation value to the ARPA system of the hull;

[0153] A time target capture module 403, configured to capture a preset time calibration target and collect static position data of the time calibration target in a static state of the hull;

[0154] A dynamic data acquisition module 404, configured to control the hull to rotate at a preset rotation speed and collect dynamic position data of the time calibration target and inertial navigation angular velocity in a rotating state of the hull;

[0155] A time deviation calculation module 405, configured to calculate a global time deviation value according to the static position data, dynamic position data, and inertial navigation angular velocity of the time calibration target, and compensate the global time deviation value to the ARPA system of the hull.

[0156] In one embodiment, the angle deviation calculation module 402 is specifically configured to collect several groups of angle test data at a preset voyage interval, calculate and update the global angle deviation value in real time according to the several groups of angle test data; determine whether the updated global angle deviation value reaches a preset angle deviation convergence condition; if the updated global angle deviation value does not reach the preset angle deviation convergence condition, control the hull to continue the circumferential voyage, collect angle test data, and calculate and update the global angle deviation value in real time; if the updated global angle deviation value reaches the preset angle deviation convergence condition, compensate the global angle deviation value that reaches the angle deviation convergence condition to the ARPA system of the hull; the angle deviation convergence condition is that the circumferential voyage of the hull is not less than half a circumference and the global angle deviation value is less than a preset angle.

[0157] In one embodiment, the collected angle test data includes the hull position, radar ranging value, radar angle measurement value, and inertial navigation heading angle; the angle deviation calculation module 402 is specifically configured to use the least squares method to calculate the target true position of the angle correction target according to all the currently collected angle test data; calculate the theoretical azimuth angle according to the target true position and the currently collected hull position; calculate the single-point angle error value of the test point corresponding to the currently collected angle test data according to the currently collected radar angle measurement value and the currently calculated theoretical azimuth angle; calculate the global angle deviation value according to the single-point angle error values of all the currently collected test points; and recalculate and update the global angle deviation value when collecting the angle test data of the next test point.

[0158] In one embodiment, in the angle deviation calculation module 402, the calculation method of the target true position includes:

[0159]

[0160] where i is the label of the collected angle test data, and N is the number of groups of all the currently collected angle test data; (x i , y i ) is the currently collected hull position, R i is the currently collected radar ranging value, and (x0, y0) is the calculated target true position;

[0161] The calculation method of the theoretical azimuth angle includes:

[0162] θ erue,i = arctan((y i - y0) / (x i - x0)) - φ i ;

[0163] where φ i is the currently collected inertial navigation heading angle, (x i , y i ) is the currently collected hull position, (x0, y0) is the target true position, and θ true，i is the current theoretical azimuth angle;

[0164] The calculation method of the current single-point angle error value includes:

[0165] Δθ i = θ i - θ true,i ;

[0166] where θ i is the currently collected radar angle measurement value, θ true，i is the current theoretical azimuth angle, and Δθ i is the current single-point angle error value;

[0167] The calculation method of the global angle deviation value includes:

[0168]

[0169] where i is the label of the collected angle test data, N is the number of groups of all the collected angle test data, Δθ i is the current single-point angle error value, and Δθ avg is the global angle deviation value.

[0170] In one embodiment, in the time target capture module 403, the time correction targets include a first time correction target and a second time correction target; the static position data of the time correction targets includes first static position data and second static position data, and the dynamic position data of the time correction targets includes first dynamic position data and second dynamic position data.

[0171] In one embodiment, the time deviation calculation module 405 is specifically configured to calculate the included angle between the line connecting the first time correction target and the second time correction target and the due north direction in the static state according to the first static position data and the second static position data; the calculation method of the included angle in the static state includes:

[0172]

[0173] where (x A0 , y A0 ) are the first static position data, and (x B0 , y B0 ) are the second static position data, is the included angle in the static state;

[0174] When the hull rotates and operates, a plurality of groups of time test data are collected at a preset operation interval, and the global time deviation value is calculated and updated in real time according to the plurality of groups of time test data; it is judged whether the updated global time deviation value reaches a preset time deviation convergence condition; if the updated global time deviation value does not reach the preset time deviation convergence condition, the hull is controlled to continue rotating, time test data is collected, and the global time deviation value is calculated and updated in real time; if the updated global time deviation value reaches the preset time deviation convergence condition, the global time deviation value that reaches the time deviation convergence condition is compensated to the ARPA system of the hull; the time deviation convergence condition is that the number of groups of the collected time test data is not less than a preset number of groups, and the global time deviation value is less than a preset threshold.

[0175] In one embodiment, the time deviation calculation module 405 is specifically configured to calculate the current rotation angle between the line connecting the first target of time correction and the second target of time correction and the due north direction according to the currently collected first dynamic position data and the currently collected second dynamic position data under the hull rotation state; the calculation method of the current rotation angle includes:

[0176]

[0177] where (x Ai , y Ai ) is the currently collected first dynamic position data, and (x Bi , y Bi ) is the currently collected second dynamic position data, is the current rotation angle;

[0178] Calculate the single-point time error value of the test point corresponding to the currently collected time test data according to the current rotation angle, the static state angle, and the currently collected inertial navigation angular velocity; the calculation method of the single-point time error includes:

[0179]

[0180] where is the current rotation angle, is the static state angle, ω i is the currently collected inertial navigation angular velocity, and Δt i is the single-point time error value;

[0181] Calculate the global time deviation value according to the single-point time error values of all the currently collected test points; the calculation method of the global time error value includes:

[0182]

[0183] where i is the label of the collected time test data, N is the number of groups of all the currently collected time test data, Δt i is the single-point time error value, and Δt avg is the global time error value;

[0184] When collecting the time test data of the next test point, recalculate and update the global time deviation value.

[0185] The ARPA system calibration device provided by the embodiments of the present application can be applied to the ARPA system calibration method provided in the above embodiments. For related details, refer to the above method embodiments. The implementation principle and technical effects are similar and will not be elaborated here.

[0186] It should be noted that: when the ARPA system calibration device provided in the embodiment of the present application performs ARPA system calibration, only the above division of each functional module / functional unit is used for illustration. In actual application, the above functions can be assigned to different functional modules / functional units according to needs, that is, the internal structure of the ARPA system calibration device is divided into different functional modules / functional units to complete all or part of the functions described above. In addition, the implementation manner of the ARPA system calibration method provided in the above method embodiment and the implementation manner of the ARPA system calibration device provided in this embodiment belong to the same concept. For the specific implementation process of the ARPA system calibration device provided in this embodiment, please refer to the above method embodiment, which will not be elaborated here.

[0187] The embodiment of the present application also discloses a computer device.

[0188] Specifically, as Figure 5 shown, the computer device can be a desktop computer, a laptop computer, a palm computer, a cloud server and other computer devices. The computer device may include, but is not limited to, a processor and a memory. Among them, the processor and the memory can be connected through a bus or other means. Among them, the processor can be a central processing unit (CPU). The processor can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, graphics processing units (GPUs), embedded neural network processors (NPUs) or other dedicated deep learning co-processors, discrete gate or transistor logic devices, discrete hardware components and other chips, or a combination of the above various types of chips.

[0189] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the methods in the above embodiments of the present application. By running the non-transitory software programs, instructions, and modules stored in the memory, the processor can execute various functional applications and data processing of the processor, that is, implement the methods in the above method embodiments. The memory can include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created by the processor, etc. In addition, the memory can include high-speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely set relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0190] The embodiments of the present application also disclose a computer-readable storage medium.

[0191] Specifically, the computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, it implements the methods in the above method embodiments. Those skilled in the art can understand that to implement all or part of the processes in the above method embodiments of the present application, it can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the above method embodiments. Among them, the storage medium can be a magnetic disk, an optical disc, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (abbreviation: HDD), or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memories.

[0192] This specific embodiment is only an explanation of the present invention, and it is not a limitation of the present invention. Those skilled in the art can make modifications without creative contributions to this embodiment according to needs after reading this specification, but as long as it is within the scope of the claims of the present invention, it is protected by the patent law.

Claims

1. A calibration method for an ARPA system, characterized in that: The method includes: Capturing a preset angle correction target and controlling the hull to perform a circumferential voyage around the angle correction target; When the hull is performing a circumferential voyage, collecting angle test data, calculating a global angle deviation value according to the angle test data, and compensating the global angle deviation value to the ARPA system of the hull; Capturing a preset time correction target and collecting the static position data of the time correction target when the hull is in a static state; Controlling the hull to rotate at a preset rotational speed and collecting the dynamic position data and inertial navigation angular velocity of the time correction target when the hull is in a rotating state; Calculating a global time deviation value according to the static position data and dynamic position data of the time correction target and the inertial navigation angular velocity, and compensating the global time deviation value to the ARPA system of the hull.

2. The method according to claim 1, wherein: The collecting angle test data, calculating a global angle deviation value according to the angle test data, and compensating the global angle deviation value to the ARPA system of the hull includes: Collecting several groups of angle test data at a preset voyage interval, and calculating and updating the global angle deviation value in real time according to the several groups of angle test data; Judging whether the updated global angle deviation value reaches a preset angle deviation convergence condition; If the updated global angle deviation value does not reach the preset angle deviation convergence condition, controlling the hull to continue the circumferential voyage, collecting angle test data, and calculating and updating the global angle deviation value in real time; If the updated global angle deviation value reaches the preset angle deviation convergence condition, compensating the global angle deviation value that reaches the angle deviation convergence condition to the ARPA system of the hull; The angle deviation convergence condition is that the circumferential voyage of the hull is not less than half a circle, and the global angle deviation value is less than a preset angle.

3. The method according to claim 2, characterized in that: The collected angle test data includes the hull position, radar ranging value, radar angle measurement value, and inertial navigation heading angle; The calculating and updating the global angle deviation value in real time according to the several groups of angle test data includes: Using the least squares method to calculate the target real position of the angle correction target according to all the currently collected angle test data; Calculating a theoretical azimuth angle according to the target real position and the currently collected hull position; Calculating the single-point angle error value of the test point corresponding to the currently collected angle test data according to the currently collected radar angle measurement value and the currently calculated theoretical azimuth angle; Calculating the global angle deviation value according to the single-point angle error values of all the currently collected test points; When collecting the angle test data of the next test point, recalculating and updating the global angle deviation value.

4. The method according to claim 3, wherein: The calculation method of the target real position includes: where i is the label of the collected angle test data, and N is the number of groups of all the currently collected angle test data; (x i , y i ) is the currently collected hull position, R i is the currently collected radar ranging value, and (x0, y0) is the calculated true target position; The calculation method of the theoretical azimuth angle includes: θ true，i = arctan((y i - y0) / (x i - x0)) - φ i ; Among them, φ i is the inertial navigation heading angle collected currently, (x i , y i ) is the hull position collected currently, (x0, y0) is the target true position, θ true，i is the theoretical azimuth angle currently; The calculation method of the current single-point angle error value includes: Δθ i = θ i - θ true，i ; where, θ i is the radar angle measurement value collected currently, θ true，i is the current theoretical azimuth angle, and Δθ i is the current single-point angle error value; The calculation method of the global angle deviation value includes: where i is the label of the collected angle test data, N is the number of groups of all the currently collected angle test data, and Δθ i is the current single-point angle error value, and Δθ avg is the global angle deviation value.

5. The method according to claim 1, wherein: The time correction target includes a first time correction target and a second time correction target; the static position data of the time correction target includes first static position data and second static position data, and the dynamic position data of the time correction target includes first dynamic position data and second dynamic position data.

6. The method according to claim 5, wherein: Calculating a global time deviation value based on the static position data and dynamic position data of the time correction target and the inertial navigation angular velocity, and compensating the global time deviation value to the ARPA system of the hull includes: Calculating the static state angle between the line connecting the first time correction target and the second time correction target and the due north direction according to the first static position data and the second static position data; The calculation method of the static state angle includes: Among them, (x A0 , y A0 ) is the first static position data, (x B0 , y B0 ) is the second static position data, is the included angle in the static state; When the hull rotates, a plurality of groups of time test data are collected at a preset operation interval, and the global time deviation value is calculated and updated in real time according to the plurality of groups of time test data; Judging whether the updated global time deviation value reaches a preset time deviation convergence condition; If the updated global time deviation value does not reach the preset time deviation convergence condition, control the hull to continue rotating, collect time test data, and calculate and update the global time deviation value in real time; If the updated global time deviation value reaches the preset time deviation convergence condition, compensate the global time deviation value that reaches the time deviation convergence condition to the ARPA system of the hull; The time deviation convergence condition is that the number of groups of the collected time test data is not less than a preset number of groups, and the global time deviation value is less than a preset threshold.

7. The method according to claim 6, wherein: Calculating and updating the global time deviation value in real time according to the plurality of groups of time test data includes: Calculating the current rotation angle between the line connecting the first time correction target and the second time correction target and the due north direction according to the currently collected first dynamic position data and second dynamic position data under the rotation state of the hull; The calculation method of the current rotation angle includes: Among them, (x Ai , y Ai ) is the current first dynamic position data, (x Bi , y Bi ) is the current second dynamic position data, is the current rotation angle; Calculating the single-point time error value of the test point corresponding to the currently collected time test data according to the current rotation angle, the static state angle, and the currently collected inertial navigation angular velocity; The calculation method of the single-point time error includes: Among them, is the current rotation angle, is the angle in the stationary state, ω i is the inertial navigation angular velocity collected currently, Δt i is the single-point time error value; Calculating the global time deviation value according to the single-point time error values of all the currently collected test points; The calculation method of the global time error value includes: where i is the label of the collected time test data, N is the number of groups of all the currently collected time test data, and Δt i is the single-point time error value, and Δt avg is the global time error value; When collecting the time test data of the next test point, recalculate and update the global time deviation value.

8. An ARPA system calibration device, characterized in that: The device includes: An angle target capture module (401) for capturing a preset angle correction target and controlling the hull to perform a circumferential voyage around the angle correction target; An angle deviation calculation module (402) for collecting angle test data when the hull performs a circumferential voyage, calculating a global angle deviation value according to the angle test data, and compensating the global angle deviation value to the ARPA system of the hull; A time target capture module (403) for capturing a preset time correction target and collecting the static position data of the time correction target when the hull is in a static state; The dynamic data acquisition module (404) is used to control the hull to rotate at a preset rotational speed, and collect the dynamic position data and inertial navigation angular velocity of the time correction target when the hull is in a rotating state; The time deviation calculation module (405) is used to calculate the global time deviation value according to the static position data and dynamic position data of the time correction target and the inertial navigation angular velocity, and compensate the global time deviation value to the ARPA system of the hull.

9. A computer device, characterized in that, It includes a memory and a processor, and a computer program capable of being loaded and executed by the processor, such as any one of the methods according to claims 1 to 7, is stored on the memory.

10. A computer-readable storage medium, characterized in that, A computer program capable of being loaded and executed by the processor, such as any one of the methods according to claims 1 to 7, is stored.

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