Full-life health state monitoring method for critical components of offshore measurement equipment

Abstract

The invention relates to a full-life health state monitoring method for critical components of offshore measurement equipment, and belongs to the technical field of ship navigation operation and equipment health management. The method comprises the following steps: acquiring key parameters of inertial navigation equipment and satellite navigation equipment through the Ethernet; comprehensively evaluating the positioning precision, the attitude precision, the gyroscope performance and the accelerometer performance of the acquired multi-dimensional data; based on the evaluation result, combining a preset health weight, and calculating a health value of the whole equipment; health levels are divided according to the health values, and state monitoring and early warning of the equipment in the whole life cycle are achieved. The device health state can be evaluated in real time, the performance degradation trend can be recognized in advance, and the comprehensive guarantee capability and the operation reliability of the offshore measurement device are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ship navigation operation and equipment health management, and particularly relates to a full-life health state monitoring method for inertial navigation equipment and satellite navigation equipment in marine surveying equipment. BACKGROUND

[0002] During long-term operation of marine surveying equipment, the performance of key components such as inertial navigation equipment and satellite navigation equipment will gradually degrade, affecting the measurement accuracy and equipment reliability. There is a lack of comprehensive health state evaluation method for the full life cycle of these equipment in the prior art, making it difficult to achieve early fault warning and accurate maintenance decision. Therefore, there is an urgent need for a method capable of real-time monitoring, evaluation and prediction of equipment health state to improve the comprehensive support capability of marine surveying equipment. SUMMARY

[0003] The purpose of the present application is to overcome the shortcomings of the prior art and provide a full-life health state monitoring method for key components of marine surveying equipment. By collecting, processing and evaluating multi-dimensional data of inertial navigation equipment and satellite navigation equipment, real-time monitoring and grade division of equipment health state are achieved, thereby improving the reliability and maintenance efficiency of the equipment.

[0004] The technical problem of the present application is solved by adopting the following technical solution: A full-life health state monitoring method for key components of marine surveying equipment, comprising the following steps: Step 1, collecting key state parameters of inertial navigation equipment and satellite navigation equipment through marine equipment integrated Ethernet; Step 2, processing the collected multi-dimensional data, wherein the processing includes positioning accuracy evaluation of inertial navigation equipment, attitude accuracy evaluation, gyro performance evaluation, accelerometer performance evaluation, and positioning accuracy monitoring of satellite navigation equipment; Step 3, calculating the whole machine health value of the inertial navigation equipment and dividing the health grade according to the evaluation results of step 2 combined with the preset health weight; Step 4, judging whether the health state of the satellite navigation equipment is qualified according to the positioning accuracy monitoring result of the satellite navigation equipment.

[0005] Furthermore, the key state parameters collected in step 1 include laser gyro temperature, dither frequency, dither amplitude and bias of inertial navigation equipment, accelerometer bias, scale factor and temperature, and longitude and latitude, pitch and roll in navigation parameters; longitude and latitude of satellite navigation equipment and satellite station differential receiver.

[0006] Furthermore, the positioning accuracy evaluation of inertial navigation equipment in step 2 includes calculating the radial error between the inertial navigation equipment and the satellite navigation equipment in each voyage The maximum radial error in each 24 hours is counted, and the accuracy level is divided according to the preset threshold.

[0007] Moreover, the inertial navigation device posture accuracy evaluation in step 2 comprises: calculating the RMS values of roll and pitch errors as the basis of posture accuracy evaluation and making a judgment.

[0008] Moreover, the gyro performance evaluation of the inertial navigation device in step 2 comprises: monitoring the gyro temperature, jitter amplitude, jitter frequency and zero offset, obtaining the gyro health score based on weighted calculation, and dividing the performance level according to the score.

[0009] Moreover, the accelerometer performance evaluation of the inertial navigation device in step 2 comprises: monitoring the accelerometer temperature, zero offset and scale factor change, obtaining the accelerometer health score based on weighted calculation, and dividing the performance level according to the score.

[0010] Moreover, the positioning accuracy monitoring of the satellite navigation device in step 2 comprises: comparing the satellite navigation device output information with the star station differential receiver output information to obtain the horizontal positioning error and the elevation positioning error at each test time, and determining the positioning accuracy of the satellite navigation device according to the selected numbers.

[0011] Moreover, the whole machine health value calculation method of the inertial navigation device in step 3 is: H G1 = 0.15 * H1 + 0.15 * H2 + 0.16 * H3 + 0.15 * H4 + 0.15 * H5 + 0.08 * H6 + 0.08 * H7 + 0.08 * H8. Wherein, H1 to H8 respectively represent the health values of X / Y / Z gyroscopes, X / Y / Z accelerometers, positioning performance and posture performance.

[0012] Moreover, the health state of the satellite navigation device in step 4 is judged according to whether the horizontal position accuracy and the elevation position accuracy meet the preset threshold.

[0013] The advantages and positive effects of the present application are: The present application collects key state parameters of the inertial navigation device and the satellite navigation device through the integrated Ethernet of the marine equipment, processes the collected multi-dimensional data, and obtains the evaluation results, calculates the whole machine health value of the inertial navigation device according to the evaluation results combined with the preset health weight, and divides the health level, and judges whether the health state of the satellite navigation device is qualified according to the positioning accuracy monitoring result. The present application realizes real-time calculation of multi-dimensional measurement data of key components of marine measurement equipment, and obtains the equipment health state according to the health evaluation standard, and can be applied to marine measurement equipment, and improves the comprehensive support capability and risk prediction capability of the marine measurement equipment. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 The health state monitoring principle diagram of the application; Figure 2 The positioning precision calculation method diagram of the inertial navigation equipment of the application. DETAILED DESCRIPTION

[0015] The application will be further described in detail below with reference to the accompanying drawings.

[0016] A full-life health state monitoring method of key components of marine measuring equipment, as shown in FIG. 1, comprises the following steps: Figure 1 Step 1, collecting key state parameters of the inertial navigation equipment and satellite navigation equipment through the marine equipment integrated Ethernet.

[0017] The collected key state parameters are shown in Table 1.

[0018] Table 1 State monitoring parameters

[0019] After the above data collection, the data are saved in a basic database, and the monitoring parameter values are called for processing in time to obtain the health state of the current equipment.

[0020] Step 2, processing the collected multi-dimensional data, wherein the processing includes positioning precision evaluation of the inertial navigation equipment, attitude precision evaluation, gyro performance evaluation, accelerometer performance evaluation, and positioning precision monitoring of the satellite navigation equipment.

[0021] The specific implementation method of the positioning precision evaluation of the inertial navigation equipment is as follows: Calculate the radial error between the inertial navigation equipment and the satellite navigation equipment in each voyage Statistically analyze the positioning error data of each 24h autonomous navigation data to obtain the positioning precision of the inertial navigation equipment.

[0022] As shown in FIG. 2, the autonomous navigation time of the inertial navigation equipment in each voyage needs to be ≥24h, when the autonomous navigation running time of the inertial navigation equipment in this voyage is <24h, this method only stores the position data of this voyage and does not use the position data of this voyage to evaluate the positioning precision of the inertial navigation equipment, and the maximum position error is output after the autonomous navigation time of the inertial navigation equipment is ≥24h; Figure 2 The radial error r of the inertial navigation equipment of the i th measuring point in each voyage i Calculation method: (1) (2) ​​(3) (4) (5) wherein, X i is the latitude error of the inertial navigation equipment at the i-th measuring point of the voyage; is the first-order difference of the latitude of the inertial navigation equipment at the i-th measuring point of the voyage; is the longitude error of the inertial navigation equipment at the i-th measuring point of the voyage; is the first-order difference of the longitude of the inertial navigation equipment at the i-th measuring point of the voyage; is the latitude of the inertial navigation equipment at the i-th measuring point of the voyage; is the latitude of the satellite navigation equipment at the i-th measuring point of the voyage; is the longitude of the inertial navigation equipment at the i-th measuring point of the voyage; is the longitude of the satellite navigation equipment at the i-th measuring point of the voyage; is the radial error of the inertial navigation equipment at the i-th measuring point of the voyage.

[0023] The maximum value of the position error of each 24 hours of the voyage is counted: (6) wherein, the maximum value of the position error. The maximum value of the radial error r max is calculated according to the results in Table 2 to determine the performance precision level of the set of inertial navigation equipment.

[0024] Table 2 Threshold table for evaluating the positioning precision of the inertial navigation equipment

[0025] The specific implementation method for evaluating the attitude precision of the inertial navigation equipment is: The RMS values of the roll and pitch errors are respectively calculated as the basis for evaluating the attitude precision: wherein, represents the attitude (roll and pitch) value.

[0026] The attitude precision evaluation standard of the inertial navigation equipment is shown in Table 3.

[0027] Table 3 Threshold table for evaluating the attitude precision of the inertial navigation equipment

[0028] The specific implementation method for evaluating the gyro performance of the inertial navigation equipment is: (1) Monitor the temperature of the gyroscope: when it exceeds the upper or lower limit of its normal working range, it is determined to be abnormal. The temperature range of the gyroscope is -40℃ to +70℃, the abnormal state weight TST is 0, and the normal state weight TST is 1; (2) Monitor the change of the gyroscope jitter amplitude: slide the statistical inertial navigation equipment gyroscope jitter amplitude maximum A max , minimum A min , average A AVE , when monitoring (A max -A min ) / A AVE >5%, it is determined to be abnormal, the abnormal state weight TSR is 0, and the normal state weight TSR is 1; (3) Monitor the change of the gyroscope jitter frequency: slide the statistical inertial navigation equipment gyroscope jitter frequency maximum P max , minimum P min , average P AVE , when monitoring (P max -P min ) / P AVE >5Hz, it is determined to be abnormal, the abnormal state weight TSF is 0, and the normal state weight TSF is 1; (4) Monitor the gyroscope bias bg: calculate the RMS value of bg, when bgRMS<0.001, the bg weight is 1, when 0.001<=bgRMS<0.003, the bg weight is 0.8, when 0.003<=bgRMS<0.005, the bg weight is 0.6, and when bgRMS>=0.005, the bg weight is 0.2; (5) Gyro health condition calculation method: score=0.4*bgRMS+0.2*(TSF+TSR+TST).

[0029] The grade is evaluated according to Table 4.

[0030] Table 4 Gyro performance evaluation standard

[0031] The specific implementation method of the accelerometer performance evaluation of the inertial navigation equipment includes: (1) Monitor the temperature of the accelerometer: when it exceeds the upper or lower limit of its normal working range, it is determined to be abnormal. The temperature range of the accelerometer is -40℃ to +70℃, the abnormal state weight TAT is 0, and the normal state weight TAT is 1; (2) The scale factor change peak-to-peak value (ppm) of the accelerometer performance is judged by different dates and multiple calibrations, and the calibration can be judged when it is greater than 5 times. When the calibration times are greater than 10 times, it is calculated according to 10 times.

[0032] ppm = (K MAX - K MIN ) / K AVE * 1e6 K MAX is the maximum value of the scale; K MIN is the minimum value of the scale; K AVE is the average value of the scale.

[0033] The scale performance evaluation criteria are shown in Table 5.

[0034] Table 5 Scale performance evaluation criteria

[0035] The premium weight ppmGrade is 1, the good weight ppmGrade is 0.8, the qualified weight ppmGrade is 0.6, and the poor weight ppmGrade is 0.2.

[0036] (3) Monitor the accelerometer zero offset ba, calculate the RMS value of ba, when baRMS < 50 ug, the ba weight is 1, when 50 ug <= baRMS < 100 ug, the ba weight is 0.8, when 100 ug <= baRMS < 500 ug, the ba weight is 0.6, and when baRMS >= 500 ug, the ba weight is 0.2; (4) Accelerometer health condition calculation method: score = 0.4 * (baRMS + ppmGrade) + 0.2 * TAT, wherein * represents multiplication.

[0037] The grade is evaluated according to Table 6.

[0038] Table 6 Accelerometer performance evaluation criteria

[0039] The specific implementation method of the positioning accuracy monitoring of the satellite navigation device is: The satellite navigation device output information is compared with the satellite station differential receiver output information to obtain the horizontal positioning error and the elevation positioning error at each test time: The satellite station differential receiver is taken as the reference device, and the satellite navigation device is taken as the measured device. Among them is the coordinate true value in the northeast celestial coordinate output by the satellite station differential receiver; is the coordinate measurement value in the northeast celestial coordinate output by the i-th satellite navigation device; the calculated positioning error is statistically sorted in ascending order from small to large, the number of effective positioning results output by the prototype is recorded as n, and n >= 1000. The [n x 95%] (n is the number of effective positioning data groups, and [] is the upward rounding operator) results are taken as the positioning accuracy of the prototype.

[0040] Step 3, according to the evaluation result of step 2, combined with the preset health weight, the whole machine health value of the inertial navigation device is calculated, and the health level is divided.

[0041] The inertial navigation device device whole machine health state evaluation needs to comprehensively consider the positioning accuracy, attitude accuracy, gyroscope and accelerometer health condition, according to the sea navigation experience, the inertial navigation device device health state is evaluated according to the health proportion empirical value set in table 7.

[0042] Table 7 Inertial navigation device whole machine health evaluation standard

[0043] The whole machine health value calculation method of the inertial navigation device in step 3 is: H G1 =0.15×H1+0.15×H2+0.16×H3+0.15×H4+0.15×H5+0.08×H6+0.08×H7+0.08×H8. Wherein, H1 to H8 respectively represent the health value of X / Y / Z gyroscope, X / Y / Z accelerometer, positioning performance and attitude performance.

[0044] The inertial navigation device device whole machine health value and health level corresponding relationship is shown in table 8.

[0045] Table 8 Inertial navigation device whole machine health evaluation standard

[0046] Step 4, according to the positioning accuracy monitoring result of the satellite navigation device, whether its health state is qualified is judged.

[0047] The health state of the satellite navigation device in step 4 is judged according to whether the horizontal position accuracy and the height position accuracy meet the preset threshold.

[0048] According to the horizontal and elevation error results calculated in step 2 (5) and the satellite navigation device whole machine health evaluation standard, the satellite navigation device health state is calculated, and the satellite navigation device whole machine health evaluation standard is shown in table 9.

[0049] Table 9 Satellite navigation device whole machine health evaluation standard

[0050] It should be emphasized that the embodiments described in the present application are illustrative rather than limiting, and therefore the present application includes but is not limited to the embodiments described in the specific embodiments, and any other embodiments derived by those skilled in the art according to the technical solutions of the present application also belong to the scope of protection of the present application.

Claims

1. A method for monitoring the health status of key components of marine surveying equipment throughout their entire lifecycle, characterized in that, Includes the following steps: Step 1: Collect key status parameters of inertial navigation equipment and satellite navigation equipment via the integrated Ethernet of marine equipment; Step 2: Process the collected multidimensional data, including evaluation of the positioning accuracy, attitude accuracy, gyroscope performance, and accelerometer performance of the inertial navigation equipment, as well as monitoring the positioning accuracy of the satellite navigation equipment. Step 3: Based on the evaluation results of Step 2, and combined with the preset health weights, calculate the overall health value of the inertial navigation device and classify its health level; Step 4: Determine whether the health status of the satellite navigation equipment is qualified based on the positioning accuracy monitoring results.

2. The method for monitoring the full life-cycle health status of key components of marine surveying equipment according to claim 1, characterized in that, The key state parameters collected in step 1 include: the temperature, dithering frequency, dithering amplitude, and zero bias of the laser gyroscope of the inertial navigation device; the zero bias, scaling factor, and temperature of the accelerometer; and the latitude, longitude, pitch, and roll parameters in the navigation parameters; as well as the latitude and longitude of the satellite navigation device and the differential receiver of the satellite station.

3. The method for monitoring the full life-cycle health status of key components of marine surveying equipment according to claim 1, characterized in that, The positioning accuracy evaluation of the inertial navigation equipment in step 2 includes: calculating the radial error between the inertial navigation equipment and the satellite navigation equipment in each voyage. The maximum radial error is calculated every 24 hours, and the accuracy level is divided according to a preset threshold.

4. The method for monitoring the full life-cycle health status of key components of marine surveying equipment according to claim 1, characterized in that, Step 2, the attitude accuracy assessment of the inertial navigation device, includes: calculating the RMS values ​​of the roll and pitch errors as the basis for attitude accuracy assessment and making a judgment.

5. The method for monitoring the full life-cycle health status of key components of marine surveying equipment according to claim 1, characterized in that, The gyroscope performance evaluation of the inertial navigation device in step 2 includes: monitoring gyroscope temperature, jitter amplitude, jitter frequency and zero bias, obtaining a gyroscope health score based on weighted calculation, and classifying the performance level according to the score.

6. The method for monitoring the full life-cycle health status of key components of marine surveying equipment according to claim 1, characterized in that, The accelerometer performance evaluation of the inertial navigation device in step 2 includes: monitoring the accelerometer temperature, zero bias and scaling factor changes, calculating the accelerometer health score based on weighted averages, and classifying the performance level according to the score.

7. The method for monitoring the full life-cycle health status of key components of marine surveying equipment according to claim 1, characterized in that, The positioning accuracy monitoring of the satellite navigation equipment in step 2 includes: comparing the output information of the satellite navigation equipment with the output information of the satellite station differential receiver to obtain the horizontal positioning error and the elevation positioning error at each test time, and determining the positioning accuracy of the satellite navigation equipment based on the selected values.

8. The method for monitoring the full life-cycle health status of key components of marine surveying equipment according to claim 1, characterized in that, The method for calculating the overall health value of the inertial navigation device in step 3 is as follows: H G1 =0.15×H1+0.15×H2+0.16×H3+0.15×H4+0.15×H5+0.08×H6+0.08×H7+0.08×H8。 Among them, H1 to H8 represent the health values ​​of the X / Y / Z gyroscope, X / Y / Z accelerometer, positioning performance, and attitude performance, respectively.

9. The method according to claim 1, characterized in that, In step 4, the health status of the satellite navigation device is determined based on whether its horizontal position accuracy and vertical position accuracy meet preset thresholds.

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