High-precision angle deviation measuring system and method

Abstract

The invention relates to the technical field of calibration measurement, and discloses a high-precision angular deviation measurement system and method, and the system comprises a data collection module which obtains the angular deviation data of a measured reference plane in a multi-source manner, carries out the time alignment of the angular deviation data, and transmits the time alignment data to a data processing module; the data processing module is used for fitting the time and angle deviation data in real time and processing the fitted data based on different algorithms to obtain angle time processing data which are different in form and represent the relation between the angle deviation and the time; the data storage module is used for storing angle time processing data according to preset requirements; the display control interface module is used for man-machine interaction and displaying angle time processing data according to a preset mode; and the data output module is used for exporting the angle time processing data according to a preset mode. By optimizing the measurement mode, high-precision real-time acquisition of angle deviation data required by calibration can be realized under the condition that the ship does not return to the dock and is not static, the calibration speed and precision of the ship and equipment reference plane are improved, and the calibration difficulty and cost are reduced.

Description

Technical Field

[0001] The present invention relates to the field of calibration measurement technology, and in particular to a high-precision angular deviation measurement system and method. Background Art

[0002] To ensure the long-term stable operation and precise operation of ships and their equipment, traditional ship equipment must be calibrated with the ship's own reference plane before leaving the factory. This process, through rigorous measurement and adjustment, ensures that various equipment (such as radar and navigation systems) are installed in their designed positions and aligned with the ship's reference plane, ensuring that these equipment can perform optimally in the complex and changing marine environment.

[0003] However, as ships operate at sea for extended periods, they inevitably encounter various environmental factors, such as wind and wave impacts, temperature fluctuations, and mechanical vibrations. These can cause small but cumulative deformations in the ship's structure, which in turn affects the position of previously precisely calibrated equipment. If these deviations are not corrected promptly, they can not only affect the operating accuracy of shipborne equipment but can also lead to serious safety risks. For example, navigation errors can cause navigation accidents, and non-standard positioning of radar systems can directly affect detection and identification effectiveness.

[0004] In order to address the above problems, it is particularly important to recalibrate the ship regularly during operation. Conventional recalibration methods mainly involve measuring the reference planes of various equipment using high-precision measurement tools when the ship is stationary after returning to the dock. The measured data is then compared with the reference plane data of the ship itself, and the resulting deviation is corrected and calibrated through software. Although this method can achieve high accuracy, it has many inconveniences. First, docking calibration requires a lot of time and resources, which seriously affects the mission execution efficiency of the ship. Second, since calibration is usually carried out under static conditions, it cannot fully simulate the dynamic effects of actual sea conditions, resulting in certain deviations in the calibration results. In addition, traditional methods rely on the operating level of professional technicians, and human factors have a significant impact on the calibration quality. Summary of the Invention

[0005] The present invention aims to provide a high-precision angular deviation measurement system and method. By optimizing the measurement method, it can achieve high-precision real-time acquisition of the basic data required for calibration without the ship returning to dock or being stationary, thereby improving the calibration speed and calibration level of various ship benchmarks, reducing the difficulty and cost of calibration, and meeting the modern ship's demand for efficient, accurate and economically feasible calibration.

[0006] The basic solution provided by the present invention is: a high-precision angular deviation measurement system, the system comprising: The data acquisition module is used to obtain the angular deviation data of the measured reference plane from multiple sources, perform time alignment on the angular deviation data, and send it to the data processing module; The data processing module is used to fit the time and angle deviation data in real time, and process the fitted data based on different algorithms to obtain angle time processing data in different forms that characterize the relationship between angle deviation and time; A data storage module is used to store angle time processing data according to preset requirements; Display and control interface module, used for human-computer interaction and displaying angle and time processing data according to preset modes; The data output module is used to export angle time processing data in a preset manner.

[0007] The present invention also provides a high-precision angular deviation measurement method, which implements the above-mentioned high-precision angular deviation measurement system. The method includes: Acquire the angular deviation data of the measured reference plane from multiple sources and perform time alignment on the angular deviation data; Fit time and angle deviation data in real time, and process the fitted data based on different algorithms to obtain angle-time processing data in different forms that characterize the relationship between angle deviation and time; Store angle time processing data according to preset requirements; Human-computer interaction and display of angle and time processing data in preset modes; Export angle-time processing data in a preset manner.

[0008] The working principle and advantages of the present invention are: Compared with the existing technology, this solution changes the measurement method. The integrated system designed by this solution collects angle deviation data from multiple sources to obtain rich data combinations with time series. It is not affected by the state of the ship itself and can complete the reception, time synchronization, decoding processing, storage, comparison, statistics, display and export of angle deviation measurement data in real time while the ship is sailing. It solves the problem that traditional measurement methods require the ship to return to the dock for static calibration. At the same time, the collection and time synchronization of multi-source angle deviation data can realize data processing and analysis in more dimensions, improve the accuracy of the angle deviation data required for calibration work, further improve the calibration accuracy, and ensure the safety of ship navigation. Portable measurement equipment can be designed based on this system to facilitate real-time measurement and automatic data processing in various occasions, reducing the complexity of calibration work. At the same time, offline data backup facilitates later data query. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 A schematic structural diagram of a high-precision angular deviation measurement system provided by an embodiment of the present invention; Figure 2A schematic diagram of the structure of a data acquisition module provided in an embodiment of the present invention; Figure 3 A schematic diagram of the operation flow of the data acquisition module provided in an embodiment of the present invention; Figure 4 A schematic structural diagram of a data storage module provided in an embodiment of the present invention; Figure 5 A schematic diagram of the operation flow of the data storage module provided in an embodiment of the present invention; Figure 6 A schematic diagram of the structure of a data processing module provided in an embodiment of the present invention; Figure 7 A schematic diagram of the operation flow of the data processing module provided in an embodiment of the present invention; Figure 8 A schematic structural diagram of a display and control interface module provided in an embodiment of the present invention; Figure 9 A schematic diagram of the operation flow of the display and control interface module provided in an embodiment of the present invention; Figure 10 A schematic diagram of the structure of a data output module provided in an embodiment of the present invention; Figure 11 A schematic diagram of the operation flow of the data output module provided in an embodiment of the present invention; Figure 12 This is a flow chart of a high-precision angle deviation measurement method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0010] The following is a further detailed description through specific implementation methods: The embodiment is basically as shown in the attached Figure 1 Shown: A high-precision angular deviation measurement system, the system comprising: The data acquisition module is used to obtain the angular deviation data of the measured reference plane from multiple sources, perform time alignment on the angular deviation data, and send it to the data processing module; The data processing module is used to fit the time and angle deviation data in real time, and process the fitted data based on different algorithms to obtain angle time processing data in different forms that characterize the relationship between angle deviation and time; A data storage module is used to store angle time processing data according to preset requirements; Display and control interface module, used for human-computer interaction and displaying angle and time processing data according to preset modes; The data output module is used to export angle time processing data in a preset manner.

[0011] Specifically: like Figure 2As shown, the data acquisition module includes a level, a theodolite, a navigation device and a GNSS control device, which are used to obtain level data, theodolite data, navigation data and GNSS data respectively; Level, used to measure the angular deviation of a target point on a reference plane relative to an ideal horizontal plane; Theodolite, used to measure the angular offset data of the target point on the reference plane relative to the reference direction; Navigation equipment, used to track the overall attitude changes of the reference plane in real time. For example, an inertial measurement unit (IMU) can sense changes in acceleration and angular velocity to calculate the attitude of an object (including pitch, roll, and heading), especially in dynamic conditions (such as when a ship is sailing) to capture any subtle movement or deformation; GNSS control equipment is used to provide a unified timestamp to all measuring equipment (levels, theodolites, navigation equipment), ensuring that all data is based on the same time standard. Based on the precise timestamp provided by GNSS, all measurements can be accurately linked to form a complete time series database. It supports Beidou and GPS, can provide precise time synchronization and geographic location information, and facilitate positioning calibration over a large area.

[0012] The data acquisition module also includes SPI module (synchronous serial interface), serial port module (asynchronous serial interface) and Net module (network interface); Figure 3 As shown, the SPI module receives and decodes level data; the serial port module receives and decodes GNSS and theodolite data; and the Net module receives and decodes navigation data. Acquiring different types of data through different interfaces allows for flexible adaptation to diverse communication needs, improving system compatibility, transmission efficiency, and stability, and enabling multi-source data fusion and efficient processing.

[0013] The data acquisition module also includes a disk mounting operation module, which is used to manage the mounting and unmounting operations of storage devices, ensuring that the data collected from the level, theodolite, navigation equipment and GNSS control equipment can be correctly written to the designated storage medium, and ensuring the security and reliability of the data; Figure 3 As shown, first you need to check the disk usage of the data storage module to ensure that the mount is successful and there is no risk of full disk; when new data arrives, generate a unique file name based on the current date and time, and confirm that the corresponding directory path exists. If not, create the necessary directory structure; when downloading files, you can verify the file integrity by calculating the hash value.

[0014] The data acquisition module also includes a USB data reading module, which realizes data exchange with external devices (such as sensors, storage devices, or other peripherals) through the USB interface. It can also be used to collect GNSS data and theodolite data. When used in conjunction with the asynchronous serial communication interface submodule, this design can improve the adaptability and flexibility of the system, meet the connection requirements of different types of devices, and also provide higher reliability and redundancy for the system.

[0015] like Figure 4 and Figure 5 As shown, the data storage module includes a level data storage module, a theodolite data storage module, a GNSS data storage module, and a navigation data storage module. These modules are used to store level data (data measured by the level), theodolite data (angles, coordinates, and other data measured by the theodolite), GNSS data (positioning and time data related to global navigation satellite systems (such as GPS and BeiDou)), and navigation data (navigation-related data such as routes and waypoints). These data are stored uniformly in disk files. This design facilitates data management and subsequent use. For example, when performing subsequent data analysis and data tracing operations, the integrated data can be directly read from the disk file.

[0016] like Figure 6 and Figure 7 As shown, the data processing module has the ability to process and fit time data and related angle data. This allows for the analysis and processing of time-varying angle information by fitting this data using mathematical models or algorithms to better understand its trends, periodicity, or other characteristics. By fitting time-series angle data, deviations in the equipment can be identified and corrected, ensuring long-term operational stability and accuracy.

[0017] The data processing module includes a data statistics module and a data comparison module. The data statistics module includes a data error extrapolation submodule and a system error estimation submodule.

[0018] The data error extrapolation module uses real-time angular deviation data to predict errors beyond the existing data range. Predicting errors in future or unobserved situations is crucial for ensuring the accuracy and reliability of the system under various conditions. Data from various device error sources is collected. For example, multiple measurements are performed using a level or theodolite under different environmental conditions. The angular deviation and corresponding environmental conditions are recorded for each measurement. Data samples from these devices under various conditions are used to build an error extrapolation model to describe how the error changes over time and under external conditions. Time series or regression models can be used to input future time points or other relevant variables to predict future error values. For example, a time series model can be used to predict angular deviation within the next five minutes. Input variables can also be adjusted (such as extreme temperature and humidity) to simulate system performance under these conditions and predict the maximum possible error. The temperature variable T can be varied to observe its effect on angular deviation. Error monitoring can improve measurement accuracy and provide a scientific basis for subsequent maintenance, ensuring long-term stable system operation.

[0019] The system error estimation submodule is used to estimate the data error of a single measurement device and the combined error of multiple measurement devices. This helps identify and reduce all potential error sources in the system, improving overall accuracy. Data error estimation for a single measurement device includes the angular measurement error of the level, the angular measurement error of the theodolite, the attitude estimation error of the navigation device, and the time synchronization error of the GNSS. Combined error estimation for multiple measurement devices involves constructing a comprehensive error estimation model to characterize the mapping relationship between the error source data of each measurement device and the target angular deviation used for correction, thereby improving correction accuracy.

[0020] By predicting and identifying system errors, we can provide support for improving the reliability and accuracy of the system.

[0021] The data comparison module is used to compare data from different sources, at different time points, or under different conditions according to specific rules (such as numerical value, data characteristics, and statistical indicators). For example, it can compare the numerical differences in level data under different conditions to analyze the impact of these conditions on angular deviation. Or, it can compare the numerical values and change trends of level data and theodolite data under the same conditions to analyze whether the angular deviation changes of different instruments under the same conditions are consistent.

[0022] like Figure 8 and Figure 9 As shown in the figure, the display and control interface module supports human-computer interaction and multi-level interface display. It includes basic operation module, display mode module and UI refresh module.

[0023] The basic operation module is used to perform basic operations on existing data, including but not limited to deletion and modification, to ensure the accuracy and validity of the data, including a data deletion submodule for data deletion and a data modification submodule for data modification. The display mode module is used to perform data display operations, including but not limited to tabular and graphical display, to intuitively present the processed data in the form of graphs and / or tables to facilitate users to understand data trends, relationships, etc., including a data tabular display submodule for tabular display and a data graphical display submodule for graphical display. The UI refresh module is used to update the view to reflect the latest status, ensuring that the interface can promptly reflect the latest data status or configuration changes. For example, if the user selects a different data display mode or deletes a record, after the UI is refreshed, the user can see the corresponding changes and obtain immediate feedback. In addition, in application scenarios where data changes in real time, the UI refresh allows the application to periodically check whether new data has arrived and update the interface based on the new data so that users can see the latest dynamic content. During specific use, the data display mode and deletion and modification selection are made through the response of the operation control. After the data operation is completed, the UI is refreshed, and then the UI returns to the response of the operation control. In this cycle, the UI refresh is not only to make the interface look more vivid and interactive, but more importantly to ensure that what the user sees is what he gets.

[0024] like Figure 10 and Figure 11 As shown, the data output module is used to output data in various ways, including but not limited to the USB data export module, which supports USB data file export and exports the system's internal data (level data, theodolite data, GNSS data and navigation data, etc.) to a USB storage device (such as a USB flash drive) connected to the system through a USB disk export control program, and finally generates a data file and saves it in the USB flash drive.

[0025] like Figure 12 As shown, this solution utilizes the above-mentioned high-precision angular deviation measurement system and also provides a high-precision angular deviation measurement method, the method comprising: Acquire the angular deviation data of the measured reference plane from multiple sources and perform time alignment on the angular deviation data; Fit time and angle deviation data in real time, and process the fitted data based on different algorithms to obtain angle-time processing data in different forms that characterize the relationship between angle deviation and time; Store angle time processing data according to preset requirements; Human-computer interaction and display of angle and time processing data in preset modes; Export angle-time processing data in a preset manner.

[0026] Here is an example of how to use it: Install a level, theodolite, navigation equipment, and GNSS control equipment on the equipment under test, and adjust their positions and accuracy to meet the reference plane angle test requirements. Start the equipment, and use the level, theodolite, and navigation equipment to obtain data representing angular deviation. Use the GNSS control equipment to obtain time data via GNSS, and synchronize the data obtained by the level, theodolite, and navigation equipment.

[0027] The acquired time data and angular deviation data are sent to the data processing module for fitting to obtain a level data group, a theodolite data group, a navigation data group, and a GNSS data group with a time series. The currently acquired multi-source data group is input into the data error extrapolation submodule and the system error estimation submodule for error prediction and error evaluation. The following methods can be used: Acquire time and angular deviation data from levels, theodolites, navigation equipment, and GNSS control devices, and perform necessary preprocessing, such as removing outliers, filling missing values, and smoothing noise. Fit the preprocessed data using a polynomial fitting method to identify time series patterns across different devices. Input the fitted data into a trained data error extrapolation module, such as the ARIMA model, to predict angular deviations at future time points.

[0028] The comprehensive error is expressed as: ,in, Represents the integrated error of all acquisition devices, Indicates additional errors that may occur under extreme conditions.

[0029]

[0030] in, , , and They are level error, theodolite error, navigation equipment error and GNSS equipment error; , , and They represent the weights of the corresponding error sources.

[0031] Level instrument error, theodolite error, navigation equipment error and GNSS equipment error, that is, for each device, the difference between the predicted value and the actual value of its error source data is calculated as the error of the device.

[0032] Through the above steps, data error extrapolation and system error estimation can be effectively performed to ensure the reliability and accuracy of the angular deviation data used for correction work under various conditions.

[0033] Through the human-computer interaction of the display and control interface module, you can choose to display data in a table, such as a table showing the level data of 3-4 points in this measurement; you can also choose to display data in a graphic, such as a graphic showing the level data, theodolite data, navigation data and GNSS data of the first 20 minutes of this measurement, and you can view the changing trends in the form of curves or areas, as well as the error conditions.

[0034] The collected data of the level, theodolite, navigation equipment and GNSS are stored in the level data storage module, theodolite storage module, navigation equipment storage module and GNSS storage module respectively; the current measurement data can be downloaded via USB, and the data group measured at any time can also be downloaded.

[0035] It is understandable that the above method can fully realize the above system operation mode, and will not be described in detail here.

[0036] The high-precision angle deviation measurement system and method provided in this embodiment, compared with the existing technology, changes the measurement method. The designed integrated system collects angle deviation data from multiple sources to obtain a rich data combination with a time series. It is not affected by the state of the ship itself and can complete the reception, time synchronization, decoding, storage, comparison, statistics, display and export of angle deviation measurement data in real time while the ship is sailing. It solves the problem that traditional measurement methods require the ship to return to the dock for static calibration. At the same time, the collection and time synchronization of multi-source angle deviation data can realize data processing and analysis in more dimensions, improve the accuracy of the angle deviation data required for calibration, further improve the calibration accuracy, and ensure the safety of ship navigation. Portable measurement equipment can be designed based on this system to facilitate real-time measurement and automatic data processing in various occasions, reducing the complexity of calibration work. At the same time, offline data backup facilitates later data query.

[0037] 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 angular deviation measurement system, characterized by: The system comprises: The data acquisition module is used to obtain the angular deviation data of the measured reference plane from multiple sources, perform time alignment on the angular deviation data, and send it to the data processing module; The data processing module is used to fit the time and angle deviation data in real time, and process the fitted data based on different algorithms to obtain angle time processing data in different forms that characterize the relationship between angle deviation and time; A data storage module is used to store angle time processing data according to preset requirements; Display and control interface module, used for human-computer interaction and displaying angle and time processing data according to preset modes; The data output module is used to export angle time processing data in a preset manner.

2. The high-precision angular deviation measurement system according to claim 1, characterized in that: The data acquisition module includes a level, a theodolite, a navigation device and a GNSS control device, and is used to obtain level data, theodolite data, navigation data and GNSS data respectively.

3. The high-precision angular deviation measurement system according to claim 2, characterized in that: The data acquisition module also includes an SPI module, a serial port module and a Net module; the level meter data is received and decoded through the SPI module; The serial port module is used to receive and decode GNSS data and theodolite data; the Net module is used to receive and decode navigation data.

4. The high-precision angular deviation measurement system according to claim 1, characterized in that: The data acquisition module also includes a USB data reading module, which is used to exchange data with external devices through the USB interface, and is also used in conjunction with the serial port module to collect GNSS data and theodolite data.

5. The high-precision angular deviation measurement system according to claim 1, characterized in that: The data acquisition module includes a disk mounting operation module for managing the mounting and unmounting operations of the storage device so that the time and angle deviation data can be correctly written to the designated storage medium.

6. The high-precision angular deviation measurement system according to claim 1, characterized in that: The data storage module includes a level data storage module, a theodolite data storage module, a navigation data storage module and a GNSS data storage module, which are used to store level data, theodolite data, navigation data and GNSS data respectively.

7. The high-precision angular deviation measurement system according to claim 1, characterized in that: A data processing module includes a data statistics module and a data comparison module, wherein the data statistics module includes a data error extrapolation submodule and a system error estimation submodule; The data error extrapolation module is used to use the real-time collected time and angle deviation data to predict the error beyond the existing data range; The system error estimation submodule is used to perform error evaluation using the time and angle deviation data collected in real time.

8. The high-precision angular deviation measurement system according to claim 1, characterized in that: The display and control interface module includes a basic operation module, a display mode module, and a UI refresh module; the basic operation module is used to perform basic operations on existing data, not limited to deletion and modification; Display mode module, used for displaying data in a format other than tabular or graphical; UI refresh module, used to update the view in real time to reflect the latest status.

9. The high-precision angular deviation measurement system according to claim 1, characterized in that: The data output module includes a USB data export module, which is used to export the target data to a USB storage device connected to the system through a USB disk export control program, and finally generate a data file and save it in the USB storage device.

10. A high-precision angle deviation measurement method, characterized in that: Implementing the high-precision angular deviation measurement system according to any one of claims 1 to 9; the method comprising: Acquire the angular deviation data of the measured reference plane from multiple sources and perform time alignment on the angular deviation data; Fit time and angle deviation data in real time, and process the fitted data based on different algorithms to obtain angle-time processing data in different forms that characterize the relationship between angle deviation and time; Store angle time processing data according to preset requirements; Human-computer interaction and display of angle and time processing data in preset modes; Export angle-time processing data in a preset manner.

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