High-precision angle real-time measurement device and method

Abstract

The invention relates to the technical field of measurement, and discloses a high-precision angle real-time measurement device and method.The inclination measurement sensor device comprises a first power supply module, and a high-precision inclination measurement sensor, a Beidou time synchronization module, a first communication module and a first display module which are connected with the first power supply module; the high-precision inclination measuring sensor, the first display module and the first communication module are respectively connected with the Beidou time synchronization module; the Beidou time synchronization module is also connected with a Beidou antenna; the data processing terminal comprises a second power supply module, and a terminal host, a data transceiving module, a second communication module and a second display module which are connected with the second power supply module; the data transceiving module and the second display module are respectively connected with the terminal host; the data transceiver module is connected with the second communication module. A high-precision inclination measuring sensor and a data processing terminal are adopted, measurement work of multiple datum plane angles of a ship can be completed under the conditions that the ship does not need to be moved back to a dock and is in a static state, and the method is used for datum plane angle calibration.

Description

Technical Field

[0001] The present invention relates to the field of measurement technology, and in particular to a high-precision real-time angle measurement device and method. Background Art

[0002] Traditional shipborne radar systems are factory-calibrated to their own reference plane to ensure accurate data measurement and optimized performance during ship use. This ensures precise radar beam transmission and reception directions, improves target detection and distance measurement accuracy, and ensures safe navigation. Accurate calibration also optimizes weather monitoring, obstacle avoidance, and navigation functions, enhancing overall navigation efficiency and safety.

[0003] However, during the use of a ship, due to the influence of wind and waves, operational stress, aging, etc., the reference plane of its radar system may deviate from the reference plane of the ship itself. The current calibration method is to measure the reference plane of each radar system in a stationary state after the ship returns to dock, compare the measured data with the reference plane data of the ship itself, and perform corrections and calibration based on the obtained deviation values. However, the docking measurement work of the ship is time-consuming and labor-intensive, costly, and has poor timeliness, which is not conducive to the maintenance and maintenance of equipment. Specific drawbacks include: 1. Poor timeliness: Traditional measurements require ships to return to dock. However, the number of ships far exceeds the number of docks, which are limited. Docks also handle manufacturing, overhauls, and other tasks. Therefore, it is difficult to schedule reference plane inspections into dock usage plans, resulting in poor timeliness. 2. High cost: Traditional measurements require the ship to be stationary. However, putting the ship to a stationary state requires a lot of work, a long cycle, high requirements for operators, and high overall costs. Summary of the Invention

[0004] The present invention aims to provide a high-precision real-time angle measurement device and method. By adopting a high-precision inclinometer and a data processing terminal, the device and method can complete the measurement of the angles of multiple reference planes of a ship without the need for the ship to return to the dock or to be stationary. The device is used for angle calibration of the reference planes, solving the problems of the current conventional calibration measurement process being cumbersome, high measurement cost, and poor timeliness.

[0005] The basic solution provided by the present invention is: a high-precision real-time angle measurement device, including a data processing terminal and an inclination sensor device; The inclinometer device includes a first power supply module and a high-precision inclinometer connected to the first power supply module, a Beidou time synchronization module, a first communication module, and a first display module; the high-precision inclinometer, the first display module, and the first communication module are respectively connected to the Beidou time synchronization module; and the Beidou time synchronization module is also connected to a Beidou antenna. The data processing terminal includes a second power supply module and a terminal host connected to the second power supply module, a data transceiver module, a second communication module and a second display module; the data transceiver module and the second display module are respectively connected to the terminal host; the data transceiver module is connected to the second communication module; The second power supply module and the second communication module of the data processing terminal are respectively connected to the first power supply module and the first communication module of the inclination sensor device.

[0006] The present invention is based on a high-precision real-time angle measurement device and also provides a high-precision real-time angle measurement method, the method comprising: S100, installing an inclinometer sensor device on the measured plane; connecting the inclinometer sensor device to a data processing terminal according to operation requirements; S200, starting the data processing terminal and the inclination sensor device, and ensuring that both are operating normally; S300: The inclination sensor device measures the inclination angle data of the plane using a high-precision inclinometer sensor. The time synchronization module receives Beidou time information and couples the inclination angle data with the Beidou time information to obtain angle-time coupled source data and transmits it to the data processing terminal via the first communication module. The first display module displays the angle-time coupled source data and device status information according to the set requirements. S400: The data processing terminal receives the angle-time coupling source data through the second communication module and the data transceiver module in sequence, and transmits it to the terminal host for source data processing. The second display module displays the data transmitted by the terminal host and device status information according to the setting requirements; The second power supply module is powered by connecting to an external power source or by a built-in lithium battery.

[0007] The working principle and advantages of the present invention are: Due to the unreasonable measurement method, traditional measurement needs to completely avoid interference from ship operation in order to obtain accurate calibration basic data. Therefore, in order to improve the calibration accuracy, the ship needs to return to the dock and be in a stationary state.

[0008] Compared with existing technologies, this solution optimizes equipment and collection methods. It can automatically measure, store, and analyze the data required for reference plane calibration in real time, with high precision, around the clock, and at low cost under any ship's mooring status. It provides a rich and time-series data set for reference plane calibration. Whether it is single data point comparison, multi-data set trend analysis, or comparative analysis of different data types, calibration accuracy can be guaranteed, completely avoiding the problem that traditional measurements require the ship to return to dock and be in a stationary state.

[0009] This solution adopts a dual-module collaborative design approach, using both the inclinometer and data processing terminal devices to achieve high-precision data acquisition, rapid transmission, and data storage and processing. A variety of dedicated algorithms are used to complete the acquisition, solution, and processing of angle-time coupled source data, improving the directional and computational capabilities of data processing. Based on the "time-angle" relationship model established by Beidou time, real-time data updates can be achieved, with measurement accuracy improved to a full-scale error of 0.0042% FS + reading error of 0.02% RO, and data processing latency less than 10ms, meeting the requirements of high-real-time scenarios. The inclinometer sensor device integrates a high-precision inclinometer and a Beidou time synchronization module, achieving millisecond-level time synchronization through satellite timing, reducing the sensor's internal clock error and achieving Beidou timekeeping accuracy better than 5ms. The terminal host module and Beidou time synchronization module in the data processing terminal work together to dynamically calibrate the source data set based on the time-series angle data coupling, combined with Beidou time information, to reduce time and measurement errors.

[0010] The device has strong comprehensive performance and upgraded human-computer interaction. The display module supports multi-level visual interface, data comparison, historical backtracking and export functions, and can simultaneously display angle time data and device status information (such as Beidou signal strength, battery power), so that users can quickly determine the operation status of the device, discover faults and handle them in time, and ensure the continuous and effective operation of the device and data collection; the battery life is strong, and the setting of the second power supply module of the data processing terminal can support external power supply and built-in lithium battery power supply. It can work offline for more than 48 hours, combining portability and battery life, and supports all-weather autonomous work; the device component configuration is simple and reasonable, and the portable measuring equipment is convenient for real-time measurement in a variety of occasions, adapting to ambient temperatures of -40℃~85℃, and enriching application scenarios; simplifying the measurement process and reducing the complexity of calibration work; offline data backup facilitates later data query. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 A schematic structural diagram of a high-precision real-time angle measurement device provided by an embodiment of the present invention; Figure 2 A functional schematic diagram of a high-precision real-time angle measurement device provided by an embodiment of the present invention; Figure 3 A front view of the inclination sensor device provided by an embodiment of the present invention; Figure 4 A top view and a left side view of the inclination sensor device provided by an embodiment of the present invention; Figure 5 A schematic diagram of the 3D effect structure of the inclination sensor device provided by an embodiment of the present invention; Figure 6A front view of a data processing terminal provided by an embodiment of the present invention; Figure 7 A top view and a right side view of the data processing terminal provided by an embodiment of the present invention; Figure 8 A schematic diagram of the 3D effect structure of the data processing terminal provided by an embodiment of the present invention; Figure 9 A schematic diagram of on-site installation provided by an embodiment of the present invention; Figure 10 A schematic diagram of a flow chart of a high-precision real-time angle measurement method provided by an embodiment of the present invention; The symbols in the drawings of the specification include: an inclination sensor device 1 and a data processing terminal 2 . DETAILED DESCRIPTION

[0012] The following is a further detailed description through specific implementation methods: The embodiment is basically as shown in the attached Figure 1 and Figure 2 As shown: A high-precision real-time angle measurement device includes a data processing terminal 2 and an inclination sensor device 1.

[0013] like Figure 3 、 Figure 4 and Figure 5 As shown, the inclinometer sensor device 1 includes a first power supply module and a high-precision inclinometer sensor, a Beidou time synchronization module, a first communication module and a first display module connected to the first power supply module; the first power supply module has a power supply interface, which is connected to the data processing terminal 2 through the power supply interface, and the data processing terminal 2 is used to power the components in the inclinometer sensor device 1 that require power supply through the power supply interface.

[0014] The high-precision inclinometer sensor, the first display module, and the first communication module are respectively connected to the Beidou time synchronization module.

[0015] High-precision inclinometers are used to measure the angle of the measured plane. BD24029 inclinometers can be used to directly measure the tilt angle.

[0016] The Beidou time synchronization module is used to synchronize the time reference with the high-precision inclinometer sensor. The inclinometer sensor device 1 is provided with an antenna interface. The Beidou time synchronization module is connected to the Beidou antenna through the antenna interface. The built-in timing module receives the Beidou time and synchronizes the Beidou timestamp to the angle data. Millisecond-level time synchronization is achieved through the Beidou satellite signal, supporting Beidou / GPS dual-mode positioning, and outputting a 1PPS pulse signal to synchronize the sensor clock.

[0017] The first display module is used to display the measurement data in real time. A TFT LCD screen with a resolution of 1280×800 can be used to display the current measurement value and device status information (such as Beidou signal strength and battery power).

[0018] The first communication module supports multiple formats and protocol switching and has a first data interface for sending the data collected by the inclination sensor device 1 to the data processing terminal 2 .

[0019] The inclination sensor device 1 is further provided with a reset component and a switch component to perform corresponding reset and switch operations. The specific implementation method can refer to conventional designs.

[0020] like Figure 6 、 Figure 7 and Figure 8 As shown, the data processing terminal 2 includes a second power supply module and a terminal host, a data transceiver module, a second communication module and a second display module connected to the second power supply module. The second power supply module is used to power the components in the data processing terminal 2 that require power supply. The second power supply module of the data processing terminal 2 is connected to the first power supply module of the inclination sensor device 1. Specifically, Figure 1 As shown, the data processing terminal 2 has a discharge interface and a charging interface. The discharge interface connects to the power supply interface of the inclination sensor device 1, allowing the second power supply module to power the first power supply module. The second power supply module includes an external power charging module and a battery charging and discharging module. The battery charging and discharging module includes a battery module. The external power charging module charges the battery module through the charging interface, and the battery module powers the inclination sensor device 1 through the discharge interface and the power supply interface of the inclination sensor device 1. The battery module also powers other components of the data processing terminal 2 that require power. The built-in lithium battery module supports continuous operation for more than 8 hours and has a low-power mode.

[0021] The data transceiver module and the second display module are connected to the terminal host respectively.

[0022] The terminal host is used to receive and process the measurement data transmitted by the inclinometer sensor. The terminal host is equipped with a quad-core Cortex-A72 processor, runs the Linux operating system, and supports multiple algorithms for data solution and processing, which improves the directional and computing capabilities of data processing. The "time-angle" relationship model established based on Beidou time realizes real-time data updates.

[0023] The second display module is used to control data display and system operation. It includes a multi-level menu interface and provides a multi-level visualization interface. It supports data comparison, historical backtracking and export functions. It can switch to display the real-time values or real-time waveforms of the heading angle, pitch angle and pitch angle. It can also monitor the system status (such as Beidou signal strength and battery power) in real time through the display screen. It supports multiple visualization methods and can export files in multiple formats.

[0024] The data transceiver module is used to communicate with the inclination sensor device 1 to send and receive data; the data transceiver module is connected to the second communication module; the second communication module is connected to the first communication module of the inclination sensor device 1, specifically, Figure 1 As shown, the first communication module includes a first data interface; the second communication module includes a second data interface, wherein the second data interface includes at least one sensor interface and a communication interface for connecting to a host computer; the second communication module of data processing terminal 2 is connected to the first data interface of the first communication module of inclination sensor device 1 via the sensor interface in the second data interface. Data processing terminal 2 and inclination sensor device 1 communicate via an RS485 interface.

[0025] The data processing terminal 2 also includes a control panel connected to the terminal host; the control panel is provided with a switch component, a reset component, a unit switching component, a calibration mode component, a channel switching component and a confirmation component, and corresponding functions are realized through operation.

[0026] The above-mentioned high-precision angle real-time measurement device, when used in practice, adopts a high-precision angle real-time measurement method, such as Figure 9 and Figure 10 As shown, the method includes: S100, installing the inclination sensor device 1 on the measured surface; connecting the inclination sensor device 1 to the data processing terminal 2 according to the operation requirements; S200, starting the data processing terminal 2 and the inclination sensor device 1, and ensuring that both are operating normally; S300: The inclination sensor device 1 measures the inclination angle data of the plane using a high-precision inclinometer sensor. The time synchronization module receives Beidou time information and couples the inclination angle data with the Beidou time information to obtain angle-time coupled source data and transmits it to the data processing terminal 2 via the first communication module. The first display module displays the angle-time coupled source data and device status information according to the set requirements. S400, the data processing terminal 2 receives the angle-time coupling source data through the second communication module and the data transceiver module in sequence, and transmits it to the terminal host for source data processing. The second display module displays the data transmitted by the terminal host and the device status information according to the setting requirements; The second power supply module is powered by connecting to an external power source or by a built-in lithium battery, which can be recharged for mobile use. The data processing terminal 2 is powered by the second power supply module and also powers the inclination sensor device 1 via the first power supply module connected to the second power supply module.

[0027] The terminal host performs source data processing, including using a variety of algorithms to solve and process the angle-time coupled source data; the processing includes but is not limited to storage, comparison, statistics, and dynamic calibration based on the time-series angle-time coupled source data set combined with Beidou time information.

[0028] The real-time angle data or real-time waveform graph is displayed by switching through the first display module and / or the second display module; the angle data includes but is not limited to heading angle, pitch angle and roll angle.

[0029] like Figure 9 As shown, the inclinometer device 1 and the data processing terminal 2 can be installed in sequence on the plane indicated by the arrow of the device under test and the plane indicated by the arrow of the reference point to measure angle data (including but not limited to heading angle, pitch angle, and pitch angle). The data measured in different planes are stored on the data processing terminal 2 to form a data set, which can be processed by various algorithms and displayed in different display modes. Of course, multiple sets of inclinometer sensors 1 and data processing terminals 2 can also be used and installed at different locations to perform simultaneous measurements. When there are multiple measurement positions, the measurement efficiency is improved.

[0030] It can be used for vehicle-mounted reference platform calibration: real-time detection of the reference platform's inclination; it can also be used for calibration of a ship's radar reference plane and the ship's own reference plane.

[0031] The high-precision real-time angle measurement device and method provided in this embodiment utilizes a high-precision inclinometer and data processing terminal to measure the angles of multiple reference planes on a ship. This system is used for reference plane angle calibration, resolving the current issues of cumbersome, costly, and time-consuming measurement of multiple reference planes on a ship during conventional measurement. The device and method offer convenient operation, high data acquisition accuracy, efficient data processing, and low cost. Furthermore, the system features a multi-level visual interface, long endurance, and wide environmental adaptability, significantly improving measurement efficiency, portability, and reliability.

[0032] The above is only an embodiment of the present invention. Common knowledge such as the specific structure and characteristics of the scheme is not described in detail here. Ordinary technicians in the relevant field are aware of all common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the guidance of this application. Some typical well-known structures or well-known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent.

Claims

1. High-precision real-time angle measurement device, characterized in that: It includes a data processing terminal and an inclination sensor device; The inclinometer device includes a first power supply module and a high-precision inclinometer connected to the first power supply module, a Beidou time synchronization module, a first communication module, and a first display module; the high-precision inclinometer, the first display module, and the first communication module are respectively connected to the Beidou time synchronization module; and the Beidou time synchronization module is also connected to a Beidou antenna. The data processing terminal includes a second power supply module and a terminal host connected to the second power supply module, a data transceiver module, a second communication module and a second display module; the data transceiver module and the second display module are respectively connected to the terminal host; the data transceiver module is connected to the second communication module; The second power supply module and the second communication module of the data processing terminal are respectively connected to the first power supply module and the first communication module of the inclination sensor device.

2. The high-precision real-time angle measurement device according to claim 1, characterized in that: The second power supply module includes an external power supply charging module and a battery charging and discharging module.

3. The high-precision real-time angle measurement device according to claim 1, characterized in that: The first communication module includes a first data interface; the second communication module includes a second data interface, wherein the second data interface includes at least one sensor interface and a communication interface for connecting to a host computer; the second communication module of the data processing terminal is connected to the first data interface of the first communication module of the inclination sensor device through the sensor interface in the second data interface.

4. The high-precision real-time angle measurement device according to claim 1, characterized in that: The Beidou time synchronization module supports Beidou / GPS dual-mode positioning; the inclinometer sensor device is provided with an antenna interface, and the Beidou time synchronization module is connected to the Beidou antenna through the antenna interface.

5. The high-precision real-time angle measurement device according to claim 1, characterized in that: The high-precision inclination sensor uses the BD24029 inclination sensor; the terminal host is equipped with a quad-core Cortex-A72 processor and runs the Linux operating system.

6. The high-precision real-time angle measurement device according to claim 1, characterized in that: The inclination sensor device is provided with a reset component and a switch component.

7. The high-precision real-time angle measurement device according to claim 1, characterized in that: The data processing terminal also includes a control panel connected to the terminal host; the control panel is provided with a switch component, a reset component, a unit switching component, a calibration mode component, a channel switching component and a confirmation component.

8. A high-precision real-time angle measurement method, characterized in that: Using the high-precision real-time angle measurement device according to any one of claims 1 to 7, the method comprises: S100, installing an inclinometer sensor device on the measured plane; connecting the inclinometer sensor device to a data processing terminal according to operation requirements; S200, starting the data processing terminal and the inclination sensor device, and ensuring that both are operating normally; S300: The inclination sensor device measures the inclination angle data of the plane using a high-precision inclinometer sensor. The time synchronization module receives Beidou time information and couples the inclination angle data with the Beidou time information to obtain angle-time coupled source data and transmits it to the data processing terminal via the first communication module. The first display module displays the angle-time coupled source data and device status information according to the set requirements. S400: The data processing terminal receives the angle-time coupling source data through the second communication module and the data transceiver module in sequence, and transmits it to the terminal host for source data processing. The second display module displays the data transmitted by the terminal host and device status information according to the setting requirements; The second power supply module is powered by connecting to an external power source or by a built-in lithium battery.

9. The high-precision real-time angle measurement method according to claim 8, characterized in that: The terminal host performs source data processing, including using a variety of algorithms to solve and process the angle-time coupled source data; the processing includes but is not limited to storage, comparison, statistics, and dynamic calibration based on the time-series angle-time coupled source data set combined with Beidou time information.

10. The high-precision real-time angle measurement method according to claim 8, characterized in that: The real-time angle data or real-time waveform is displayed by switching through the first display module and / or the second display module; the angle data includes but is not limited to heading angle, pitch angle and roll angle.

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