Swing test testing system and method for partitioned installation of double inertial navigation systems

Abstract

The invention provides a swing test system and method for mounting a double inertial navigation system in a partitioned manner. The system comprises a test tool, two sets of ship laser inertial navigation equipment, a three-axis swing table and an industrial personal computer, the three-axis swing table is used for simulating different sea conditions based on a preset swing spectrum; the test tool is installed on the three-axis swing table and comprises a deck deformation simulation support with adjustable rigidity, and the deck deformation simulation support is used for simulating the deformation condition of front and back partition installation decks under the swing excitation condition; the inertial navigation equipment is respectively mounted on the inertial navigation mounting brackets in the front and rear areas of the test tool, is used for outputting an inertial navigation mounting base attitude matrix, and is electrically connected with the industrial personal computer; and the industrial personal computer is used for performing precision compensation on the inertial navigation mounting base attitude matrix output by each inertial navigation device based on the deck deformation condition. According to the system and the method provided by the invention, the influence of deformation on the information fusion precision of the double inertial navigation system can be tested in a swinging dynamic environment.

Description

Technical Field

[0001] This invention relates to the field of ship inertial navigation technology, and in particular to a sway test system and method for installing dual inertial navigation systems in sections. Background Technology

[0002] Inertial navigation devices utilize inertial sensing elements such as gyroscopes and accelerometers to measure the linear and angular motion parameters of a carrier relative to inertial space. Under given initial motion conditions, they calculate the carrier's instantaneous velocity, position, and attitude information based on Newton's laws of motion. During inertial navigation, no external information is required; autonomous navigation can be achieved solely by the sensitive output of the gyroscopes and accelerometers. They continuously provide navigation parameters such as position, velocity, and attitude of the carrier and possess high short-term accuracy and stability. They also offer significant advantages such as strong concealment, all-weather capability, lack of geographical limitations, and resistance to human interference, making them widely used in aerospace, aviation, and maritime fields.

[0003] As the core navigation method of integrated navigation systems for large ships, inertial navigation equipment is typically used in both domestic and international vessels with a redundant configuration of two inertial navigation systems to ensure the reliability of navigation information. To further improve the autonomous navigation accuracy and information availability under dynamic environmental conditions of the dual inertial navigation systems, a series of technologies, including optimal information fusion between the two systems, have been developed, achieving both improved autonomous navigation accuracy and mutual redundancy backup.

[0004] As the core navigation method of large ships' integrated navigation systems, inertial navigation equipment (INS) is typically configured with two redundant INS systems to ensure the reliability of ship navigation information. However, due to the distance of tens of meters between the fore and aft compartments on a certain large ship, deck deformation becomes a major source of error affecting the accuracy of heading and attitude information transmission by the INS. To ensure the accuracy of the heading and attitude information acquired by other equipment in the fore and aft compartments, this ship employs a two-stage installation scheme with laser INS systems installed in the fore and aft sections. The fore-stage INS provides immediate support to navigation information user equipment installed in the fore-stage, while the aft-stage INS provides immediate support to navigation information user equipment installed in the aft section. To further improve the autonomous navigation accuracy and information availability under dynamic environmental conditions of the dual INS system, a series of technologies, including optimal information fusion between the two INS systems, have been implemented, achieving improved autonomous navigation accuracy and mutual redundancy backup.

[0005] To fully verify the autonomous navigation accuracy of a dual inertial navigation system, it is necessary to test and accept its full range of navigation parameters, including position, velocity, and attitude. Traditional ship inertial navigation accuracy testing requires the use of sway tests to simulate ship angular motion, which mainly tests a single inertial navigation device. This does not consider the impact of deck deformation on the information fusion accuracy of the dual inertial navigation system during actual ship installation in different sections, and therefore cannot ensure that the sway test accuracy can truly reflect the performance of the dual inertial navigation system.

[0006] Therefore, it is necessary to develop a partitioned installation test device for a specific operating environment where the dual inertial navigation system is installed in the fore and aft sections of a certain type of ship. The focus is on simulating deck deformation between the two inertial navigation systems and designing reasonable test methods. Summary of the Invention

[0007] This invention provides a swing test system and method for partitioned installation of dual inertial navigation systems, which solves the problem that the existing technology mainly tests a single set of inertial navigation equipment and cannot ensure that the swing test accuracy can truly reflect the performance of the dual inertial navigation system.

[0008] This invention provides a swing test system for partitioned installation of dual inertial navigation systems, comprising: test fixtures, two sets of marine laser inertial navigation equipment, a three-axis swing table, and an industrial control computer; The three-axis gyroscope is connected to the inertial navigation device and the industrial control electromechanical system, and is used to simulate different sea conditions based on a preset gyroscope spectrum; The test fixture is mounted on a three-axis swing table. The test fixture includes a deck deformation simulation bracket with adjustable stiffness. The deck deformation simulation bracket is used to simulate the deformation of the front and rear partitioned decks under swing excitation conditions. The test fixture is connected to the industrial control computer. The inertial navigation equipment is installed on the front and rear inertial navigation mounting brackets of the test fixture, respectively, and is used to output the attitude matrix of the inertial navigation mounting base. The inertial navigation equipment is connected to the industrial control computer. The industrial control computer is used to perform accuracy compensation on the attitude matrix of the inertial navigation mounting base output by each inertial navigation device based on the deck deformation.

[0009] According to the swing test system for partitioned installation of dual inertial navigation systems provided by the present invention, the deck deformation simulation support is a cantilever beam structure. The moment of inertia of the deck deformation simulation support is adjusted by replacing the diagonal tie rods on the deck deformation simulation support to simulate the deformation of the front and rear partitioned installation deck.

[0010] According to the swing test system for partitioned installation of dual inertial navigation systems provided by the present invention, the deck deformation is determined based on the relative rotation angle and deflection at both ends of the deck deformation simulation support. The relative rotation angle and deflection are determined based on the cross-sectional moment of inertia, the length vector of the arm from the rocking table center to the inertial guide, the angle vector of the rocking table, the height from the inertial guide's center of mass to the mounting surface, and the angle between the line connecting the inertial guide's center of mass and the rocking table center and the rocking table mounting surface.

[0011] According to the swing test system for partitioned installation of dual inertial navigation systems provided by the present invention, the test fixture further includes an optical autocollimation measuring instrument and a dynamic differential inclinometer, used to measure the deformation angle of the deck deformation simulation support in real time during the swing test.

[0012] According to the swing test system for partitioned installation of dual inertial navigation systems provided by the present invention, the test fixture further includes a communication unit for receiving an external synchronization signal to trigger the measurement of the deformation angle of the deck deformation simulation support.

[0013] According to the swing test system for partitioned installation of dual inertial navigation systems provided by the present invention, the industrial control computer includes: The data acquisition unit is used to acquire the deformation angle vector of the deck deformation simulation support; The data processing unit is used to determine the attitude transfer matrix corresponding to the deck deformation based on the deformation angle vector; and to perform accuracy compensation on the attitude matrix of the inertial navigation mounting base output by each inertial navigation device based on the attitude transfer matrix corresponding to the deck deformation.

[0014] According to the present invention, the swing test system for partitioned installation of dual inertial navigation systems is provided. The swing test is carried out in 6 voyages, each voyage lasting 8 hours, and each voyage covers four sea states: sea state 4, 5, 6 and high sea state.

[0015] The present invention also provides a swing test method for a dual inertial navigation system with partitioned installation, comprising: The test fixture is installed on a three-axis oscillating table, and two sets of ship laser inertial navigation equipment are installed on the inertial navigation mounting brackets in the fore and aft areas of the test fixture, respectively. The heading and horizontal attitude of the ship laser inertial navigation equipment are aligned with the three-axis oscillating table through digital binding. The test fixture includes a deck deformation simulation bracket with adjustable stiffness, which is used to simulate the deformation of the fore and aft partitioned installation decks under oscillation excitation conditions. A swing test was conducted according to the preset test plan, and the attitude matrix of the inertial navigation mounting base output by each inertial navigation device was compensated for accuracy based on the deck deformation.

[0016] According to the swing test method for partitioned installation of dual inertial navigation systems provided by the present invention, before conducting the swing test according to the preset test plan, the method further includes: Check whether the internal connections of the two sets of ship laser inertial navigation equipment are correct, and check whether the connections between the inertial navigation equipment, test fixtures, and three-axis swing table and the industrial control computer are correct.

[0017] According to the swing test method for partitioned installation of dual inertial navigation systems provided by the present invention, the step of accuracy compensation for the attitude matrix of the inertial navigation mounting base output by each inertial navigation device based on the deck deformation includes: Obtain the deformation angle vector of the deck deformation simulation support; Based on the deformation angle vector, the attitude transfer matrix corresponding to the deck deformation is determined; based on the attitude transfer matrix corresponding to the deck deformation, the accuracy compensation is performed on the attitude matrix of the inertial navigation mounting base output by each inertial navigation device.

[0018] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the swing test method for partitioned installation of dual inertial navigation systems as described above.

[0019] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the swing test method for partitioned installation of dual inertial navigation systems as described above.

[0020] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the swing test method for partitioned installation of dual inertial navigation systems as described above.

[0021] The present invention provides a sway test system and method for partitioned installation of dual inertial navigation systems, which ensures that the sway test accuracy can truly reflect the performance of the dual inertial navigation system. It designs specific test fixtures to simulate the actual ship installation environment of the dual inertial navigation system with partitioned front and rear sections, and focuses on the deck deformation between the two inertial navigation systems. It can examine the impact of deformation on the information fusion accuracy of the dual inertial navigation system in the dynamic environment of swaying. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of the swing test system for partitioned installation of dual inertial navigation systems provided by the present invention.

[0024] Figure 2 This is a schematic diagram of the test fixture provided by the present invention.

[0025] Figure 3 This is a schematic diagram of the deck deformation model provided by the present invention.

[0026] Figure 4 This is a schematic diagram of the installation of the swing experiment provided by the present invention.

[0027] Figure 5This is a schematic diagram of the swing experiment connection provided by the present invention.

[0028] Figure 6 This is a schematic diagram of the sway test cross-section provided by the present invention.

[0029] Figure 7 This is a diagram of the swing test scheme provided by the present invention.

[0030] Figure 8 This is a schematic flowchart of the swing test method for partitioned installation of dual inertial navigation systems provided by the present invention.

[0031] Figure 9 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0033] To address the issue that current technologies primarily test single inertial navigation systems (INS), failing to ensure that the accuracy of sway tests accurately reflects the performance of dual INS systems, this invention proposes a sway test system for dual INS systems installed in sections. This system includes a test fixture, two sets of marine laser INS devices, a three-axis sway table, and an industrial control computer. The three-axis sway table is connected to the INS devices and the industrial control computer to simulate different sea conditions based on a preset sway spectrum. The test fixture, mounted on the three-axis sway table, includes a deck deformation simulation bracket with adjustable stiffness. This bracket simulates the deformation of the fore-and-aft sway-excitation deck under sway excitation conditions. The test fixture is connected to the industrial control computer. The INS devices are installed on the fore-and-aft INS mounting brackets of the test fixture and output the attitude matrix of the INS mounting base. The INS devices are connected to the industrial control computer. The industrial control computer performs accuracy compensation on the attitude matrix of the INS mounting base output by each INS device based on the deck deformation.

[0034] The system provided in this invention ensures that the accuracy of the sway test can truly reflect the performance of the dual inertial navigation system. It designs a specific test fixture to simulate the actual ship installation environment with the dual inertial navigation system arranged in front and behind sections. It focuses on the deck deformation between the two inertial navigation systems and can examine the impact of deformation on the information fusion accuracy of the dual inertial navigation system in a swaying dynamic environment.

[0035] In the description of the embodiments of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of the embodiments of the present invention, "multiple" means two or more, unless otherwise explicitly specified.

[0036] Figure 1 This is a schematic diagram of the swing test system for partitioned installation of dual inertial navigation systems provided by the present invention, as shown below. Figure 1 As shown, the system includes: The equipment includes 110 test fixtures, 2 sets of marine laser inertial navigation equipment (120), a three-axis swing table (130), and an industrial control computer (140).

[0037] To ensure that the test fixture can simulate the deformation of the front and rear partitioned installation decks under swaying excitation conditions and to solve the problem that traditional swaying tests cannot meet the error excitation of the partitioned installation dual inertial navigation system, this embodiment of the invention designs a test fixture with adjustable stiffness before the swaying test.

[0038] The testing fixtures include a deck deformation simulation bracket with adjustable stiffness, which is used to simulate the deformation of the fore-and-aft partitioned decks under swaying excitation conditions.

[0039] Figure 2 This is a schematic diagram of the test fixture provided by the present invention, as shown below. Figure 2 As shown, the test fixture includes: a deck deformation simulation support, a front inertial navigation system mounting support, a rear inertial navigation system mounting support, a test device mounting base, an optical autocollimation measuring instrument, and a dynamic differential inclinometer.

[0040] Among them, the deck deformation simulation bracket is used to simulate the deck deformation of a certain type of ship with front and rear partitions, the front zone inertial navigation mounting bracket is used to fix the front zone laser inertial navigation equipment, the rear zone inertial navigation mounting bracket is used to fix the rear zone laser inertial navigation equipment, the test device mounting base is used to fix the test device to the test vehicle, and the optical autocollimation measuring instrument and dynamic differential inclinometer are used to test the deformation angle of the deck deformation simulation bracket in real time.

[0041] To accommodate the vertical information detection requirements of the dual inertial navigation systems, the distance from the inertial navigation mounting center of both the front and rear inertial navigation mounting brackets to the center of the test device mounting base is the same and not less than 1 meter. Furthermore, the test fixture also includes a communication unit for receiving external synchronization signals to trigger the measurement of the deformation angle of the deck deformation simulation bracket; that is, the optical autocollimator and dynamic differential inclinometer can receive external synchronization signals to trigger angle measurement.

[0042] To simulate the deck deformation of a certain type of ship, the deck deformation simulation support is designed as follows: Figure 3 This is a schematic diagram of the deck deformation model provided by the present invention. Please refer to it. Figure 3 The front and rear inertial navigation system mounting brackets are fixedly connected to the deck deformation simulation bracket. The deck deformation simulation bracket is a cantilever beam structure, and its moment of inertia can be adjusted by replacing the diagonal tie rods. To adapt to the swinging scene and generate sufficient deformation.

[0043] The deck deformation is determined based on the relative rotation angle and deflection at both ends of the deck deformation simulation support. The relative rotation angle and deflection are determined based on the moment of inertia of the section, the length vector of the arm from the rocking table center to the inertial guide, the angle vector of the rocking table, the height from the inertial guide center to the mounting surface, and the angle between the line connecting the inertial guide center and the rocking table center and the rocking table mounting surface.

[0044] Specifically, the cantilever beam is subjected to concentrated loads. or bending moment Angle generated by the action and deflection They are respectively: (Equation 1) (Equation 2) (Equation 3) (Equation 4) In the formula: For concentrated load The angle generated by the action; For concentrated load Deflection generated under action; For bending moment The angle generated by the action; For bending moment Deflection generated under action; For concentrated load or bending moment The distance from the point of application to the fixed end; This is the elastic modulus of the material.

[0045] Tangential acceleration when swinging on the rocking platform and centripetal acceleration They are respectively: (Equation 5) (Equation 6) In the formula: This indicates the length of the lever arm from the center of the gyroscope to the inertial navigation system. The length vector of the lever arm. Indicates the angle measurement of the swing platform's central ring. The angle vector of the swing table; Angular velocity vector It is the angular acceleration vector.

[0046] The inertial navigation equipment at the free end experiences tangential and centripetal acceleration, which in turn applies a concentrated force and bending moment to the free end. Substituting equations 5 and 6 into equations 1-4, the rotation angle and deflection generated at the free end of the deck deformation simulation support are: (Equation 7) (Equation 8) (Equation 9) (Equation 10) In the formula, This indicates the height of the inertial navigation system's center of mass from the mounting surface; Let m represent the angle between the line connecting the inertial navigation system's center of mass and the center of the gyratory platform and the mounting surface of the gyratory platform. Then, the rotation angle and deflection after being subjected to the superposition of concentrated force and bending moment are: (Equation 11) (Equation 12) The relative rotation angle at both ends of the deck deformation simulation support and deflection for: (Equation 13) (Equation 14) In the formula, Indicates the left-hand corner. Indicates the right-hand corner. Indicates the deflection at the left end. This indicates the deflection at the right end.

[0047] Equations 13 and 14 represent the swing table at a swing angle of... At that time, the relative rotation angle between the two ends of the deck deformation simulation support was and deflection .

[0048] Therefore, by utilizing the swing state of the three-axis swing table and adjusting and replacing the diagonal tie rods on it, the moment of inertia of the deck deformation simulation support is adjusted. To control the relative rotation angle and deflection When the appropriate range is reached, deck deformation simulation can be effectively performed.

[0049] After designing the test fixture according to the above method, the swing test can be prepared. The swing test includes the following steps: 1. Installation and calibration. Installation and calibration include: using a crane to install the test fixture onto the three-axis swing table, installing the two sets of marine laser inertial navigation equipment on the front and rear inertial navigation mounting brackets of the test fixture respectively, and aligning the heading and horizontal attitude of the marine laser inertial navigation equipment with the three-axis swing table using digital binding. Figure 4 This is a schematic diagram of the installation of the swing experiment provided by the present invention.

[0050] 2. Connection Correctness Check: Check the correctness of the internal connections of the ship's laser inertial navigation equipment to ensure normal startup of the equipment; check the correctness of the connection relationship with the industrial control computer to ensure correct reception and storage of test data.

[0051] Figure 5 This is a schematic diagram of the swing experiment connection provided by the present invention, as shown below. Figure 5 As shown, the three-axis rocking stage is connected to the inertial navigation system and the industrial control electromechanical system. The optical autocollimation measuring instrument and the dynamic differential inclinometer in the test fixture are connected to the industrial control electromechanical system, and the inertial navigation system is connected to the industrial control electromechanical system.

[0052] The industrial control computer acquires the deck deformation measured by the optical autocollimation measuring instrument and the dynamic differential inclinometer, and performs accuracy compensation on the attitude matrix of the inertial navigation mounting base output by each inertial navigation device based on the deck deformation.

[0053] Figure 6 This is a schematic diagram of the sway test cross-section provided by the present invention. Figure 7 This is a diagram of the swing test scheme provided by the present invention. The three-axis swing stage simulates different sea conditions based on a preset swing spectrum.

[0054] 3. Test Procedure: Refer to Figure 6 Test profile and Figure 7 The rolling scheme underwent rolling tests, consisting of six voyages, each lasting eight hours, covering four sea states: sea state four, five, six, and high sea state. Table 1 shows the rolling spectrum used in the rolling tests.

[0055] Table 1. Swing spectrum of the swing test

[0056] 4. Test Compensation: The rolling test mainly assesses the inertial navigation attitude accuracy under dynamic conditions. To ensure that the deck deformation under simulated pre- and post-installation conditions is not affected, the deck deformation under different sea conditions must be compensated during the rolling process. The deck deformation is obtained and compensated by the angle measurement output synchronously by the optical autocollimation measuring instrument and the dynamic differential inclinometer.

[0057] Accuracy compensation can be achieved using an industrial control computer. In some embodiments, the industrial control computer includes: The data acquisition unit is used to acquire the deformation angle vector of the deck deformation simulation support; The data processing unit is used to determine the attitude transfer matrix corresponding to the deck deformation based on the deformation angle vector; and to perform accuracy compensation on the attitude matrix of the inertial navigation mounting base output by each inertial navigation device based on the attitude transfer matrix corresponding to the deck deformation.

[0058] Specifically, taking Inertial Navigation System 1 as an example, with the rocking center of the test device as the reference point, the attitude matrix of the rocking center carrier coordinate system is denoted as... The deck deformation angle vector, simultaneously measured by the optical autocollimator and the dynamic differential inclinometer, is transmitted to the data acquisition unit. Represented as: (Equation 15) Attitude transfer matrix corresponding to deck deformation Represented as:

[0059] (Equation 16) The attitude matrix after compensating for deck deformation is: (Equation 17) In the formula, The attitude matrix for the inertial navigation system (INS) mounting base is calculated from the INS output.

[0060] The embodiments of the present invention ensure that the accuracy of the sway test can truly reflect the performance of the dual inertial navigation system. A specific test fixture is designed to simulate the actual ship installation environment with the dual inertial navigation system arranged in front and behind sections. The design focuses on deck deformation between the two inertial navigation systems, which can be used to examine the impact of deformation on the information fusion accuracy of the dual inertial navigation system in a swaying dynamic environment.

[0061] The following describes the swing test method for a dual inertial navigation system with partitioned installation provided by the present invention. The swing test method for a dual inertial navigation system with partitioned installation described below can be referred to in correspondence with the swing test system for a dual inertial navigation system with partitioned installation described above.

[0062] Figure 8 This is a flowchart illustrating the swing test method for a dual inertial navigation system with partitioned installation provided by the present invention, as shown below. Figure 8 As shown, the method includes the following steps: Step 810: Install the test fixture on the three-axis swing table, and install two sets of ship laser inertial navigation equipment on the fore and aft inertial navigation mounting brackets of the test fixture respectively. Align the heading and horizontal attitude of the ship laser inertial navigation equipment with the three-axis swing table through digital binding. The test fixture includes a deck deformation simulation bracket with adjustable stiffness. The deck deformation simulation bracket is used to simulate the deformation of the fore and aft partitioned installation decks under swing excitation conditions. Step 820: Conduct a swing test according to the preset test plan, and perform accuracy compensation on the attitude matrix of the inertial navigation mounting base output by each inertial navigation device based on the deck deformation.

[0063] Specifically, the swing test includes the following steps: 1. Installation and calibration. Installation and calibration include: using a crane to install the test fixture onto the three-axis swing table, installing the two sets of marine laser inertial navigation equipment on the front and rear inertial navigation mounting brackets of the test fixture respectively, and aligning the heading and horizontal attitude of the marine laser inertial navigation equipment with the three-axis swing table using digital binding.

[0064] 2. Connection Correctness Check: Check the correctness of the internal connections of the ship's laser inertial navigation equipment to ensure normal startup of the equipment; check the correctness of the connection relationship with the industrial control computer to ensure correct reception and storage of test data.

[0065] Furthermore, the three-axis swing stage is connected to the inertial navigation system and the industrial control electromechanical system. The optical autocollimation measuring instrument and the dynamic differential inclinometer in the test fixture are connected to the industrial control electromechanical system, and the inertial navigation system is connected to the industrial control electromechanical system.

[0066] The industrial control computer acquires the deck deformation measured by the optical autocollimation measuring instrument and the dynamic differential inclinometer, and performs accuracy compensation on the attitude matrix of the inertial navigation mounting base output by each inertial navigation device based on the deck deformation.

[0067] Preferably, in step 810, based on the deck deformation, accuracy compensation is performed on the attitude matrix of the inertial navigation mounting base output by each inertial navigation device, specifically including: Step 811: Obtain the deformation angle vector of the deck deformation simulation support; Step 812: Based on the deformation angle vector, determine the attitude transfer matrix corresponding to the deck deformation; based on the attitude transfer matrix corresponding to the deck deformation, perform accuracy compensation on the attitude matrix of the inertial navigation mounting base output by each inertial navigation device.

[0068] The method provided in this invention simulates the actual ship installation environment of a dual inertial navigation system with front and rear partitions through testing fixtures, ensuring that the rolling test accuracy can truly reflect the performance of the dual inertial navigation system. It specifically considers the deck deformation between the two inertial navigation systems, which can verify the impact of deformation on the information fusion accuracy of the dual inertial navigation system in a rolling dynamic environment.

[0069] Figure 9 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 9 As shown, the electronic device may include a processor 810, a communications interface 820, a memory 830, and a communication bus 840. The processor 810, communications interface 820, and memory 830 communicate with each other via the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute accuracy compensation in a swing test method for a partitioned dual inertial navigation system. This method includes: acquiring the deformation angle vector of the deck deformation simulation support; determining the attitude transfer matrix corresponding to the deck deformation based on the deformation angle vector; and performing accuracy compensation on the attitude matrix of the inertial navigation mounting base output by each inertial navigation device based on the attitude transfer matrix corresponding to the deck deformation.

[0070] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0071] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to perform the accuracy compensation in the swing test method for partitioned installation of dual inertial navigation systems provided by the above methods. The method includes: obtaining the deformation angle vector of the deck deformation simulation support; determining the attitude transfer matrix corresponding to the deck deformation based on the deformation angle vector; and performing accuracy compensation on the attitude matrix of the inertial navigation installation base output by each inertial navigation device based on the attitude transfer matrix corresponding to the deck deformation.

[0072] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program performs accuracy compensation in the swing test method for partitioned installation of dual inertial navigation systems provided by the above methods. The method includes: obtaining the deformation angle vector of the deck deformation simulation support; determining the attitude transfer matrix corresponding to the deck deformation based on the deformation angle vector; and performing accuracy compensation on the attitude matrix of the inertial navigation mounting base output by each inertial navigation device based on the attitude transfer matrix corresponding to the deck deformation.

[0073] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0074] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A swing test system for partitioned installation of dual inertial navigation systems, characterized in that, include: Test fixtures, two sets of marine laser inertial navigation equipment, a three-axis swing table and an industrial control computer; The three-axis gyroscope is connected to the inertial navigation device and the industrial control electromechanical system, and is used to simulate different sea conditions based on a preset gyroscope spectrum; The test fixture is mounted on a three-axis swing table. The test fixture includes a deck deformation simulation bracket with adjustable stiffness. The deck deformation simulation bracket is used to simulate the deformation of the front and rear partitioned decks under swing excitation conditions. The test fixture is connected to the industrial control computer. The inertial navigation equipment is installed on the front and rear inertial navigation mounting brackets of the test fixture, respectively, and is used to output the attitude matrix of the inertial navigation mounting base. The inertial navigation equipment is connected to the industrial control computer. The industrial control computer is used to perform accuracy compensation on the attitude matrix of the inertial navigation mounting base output by each inertial navigation device based on the deck deformation.

2. The swing test system for partitioned installation of dual inertial navigation systems according to claim 1, characterized in that, The deck deformation simulation support is a cantilever beam structure. The moment of inertia of the deck deformation simulation support section is adjusted by replacing the diagonal tie rods on the deck deformation simulation support to simulate the deformation of the deck installed in the front and rear sections.

3. The swing test system for partitioned installation of dual inertial navigation systems according to claim 2, characterized in that, The deck deformation is determined based on the relative rotation angle and deflection at both ends of the deck deformation simulation support; The relative rotation angle and deflection are determined based on the cross-sectional moment of inertia, the length vector of the arm from the rocking table center to the inertial guide, the angle vector of the rocking table, the height from the inertial guide's center of mass to the mounting surface, and the angle between the line connecting the inertial guide's center of mass and the rocking table center and the rocking table mounting surface.

4. The swing test system for partitioned installation of dual inertial navigation systems according to claim 1, characterized in that, The testing fixture also includes an optical autocollimator and a dynamic differential inclinometer, used to measure the deformation angle of the deck deformation simulation support in real time during the rocking test.

5. The swing test system for partitioned installation of dual inertial navigation systems according to claim 4, characterized in that, The test fixture also includes a communication unit for receiving external synchronization signals to trigger the measurement of the deformation angle of the deck deformation simulation support.

6. The swing test system for partitioned installation of dual inertial navigation systems according to claim 4, characterized in that, The industrial control computer includes: The data acquisition unit is used to acquire the deformation angle vector of the deck deformation simulation support; The data processing unit is used to determine the attitude transfer matrix corresponding to the deck deformation based on the deformation angle vector; and to perform accuracy compensation on the attitude matrix of the inertial navigation mounting base output by each inertial navigation device based on the attitude transfer matrix corresponding to the deck deformation.

7. The swing test system for partitioned installation of dual inertial navigation systems according to claim 1, characterized in that, The swing test consisted of six voyages, each lasting eight hours, covering four sea states: sea state four, five, six, and high sea state.

8. A swing test method for a dual inertial navigation system installed in a partitioned manner, characterized in that, include: The test fixture is installed on a three-axis oscillating table, and two sets of ship laser inertial navigation equipment are installed on the inertial navigation mounting brackets in the fore and aft areas of the test fixture, respectively. The heading and horizontal attitude of the ship laser inertial navigation equipment are aligned with the three-axis oscillating table through digital binding. The test fixture includes a deck deformation simulation bracket with adjustable stiffness, which is used to simulate the deformation of the fore and aft partitioned installation decks under oscillation excitation conditions. A swing test was conducted according to the preset test plan, and the attitude matrix of the inertial navigation mounting base output by each inertial navigation device was compensated for accuracy based on the deck deformation.

9. The swing test method for a dual inertial navigation system with partitioned installation according to claim 8, characterized in that, Before conducting the swing test according to the preset test plan, the method further includes: Check whether the internal connections of the two sets of ship laser inertial navigation equipment are correct, and check whether the connections between the inertial navigation equipment, test fixtures, and three-axis swing table and the industrial control computer are correct.

10. The swing test method for a dual inertial navigation system with partitioned installation according to claim 8, characterized in that, The accuracy compensation for the attitude matrix of the inertial navigation mounting base output by each inertial navigation device based on the deck deformation includes: Obtain the deformation angle vector of the deck deformation simulation support; Based on the deformation angle vector, the attitude transfer matrix corresponding to the deck deformation is determined; based on the attitude transfer matrix corresponding to the deck deformation, the accuracy compensation is performed on the attitude matrix of the inertial navigation mounting base output by each inertial navigation device.

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