CN116659554A - Inertial navigation deviation correction method, device, equipment and medium based on echo detection - Google Patents

Abstract

The application discloses an inertial navigation deviation correcting method, device, equipment and medium based on echo detection, and belongs to the technical field of navigation. The method comprises the following steps: acquiring the installation position of an inertial navigation assembly pre-installed on a ship; in the navigation process of the ship, calculating the motion parameters of the ship body through the inertial navigation components at least at two mounting positions to obtain at least two motion parameters; and identifying the position information of the target object through the echo detection component; verifying at least two motion parameters obtained through calculation according to the position information, and identifying whether errors exist in the motion parameters; if so, performing correction processing according to the inertial navigation assembly generating errors. According to the scheme, the motion parameters of the ship body can be obtained through the plurality of inertial navigation components, errors caused by the use of a single component are reduced, the errors of the inertial navigation components can be found and processed in time through the combined verification of the information obtained by the different components, and the accuracy of the navigation result of the ship is improved.

Description

Inertial navigation deviation correction method, device, equipment and medium based on echo detection

technical field

The present application belongs to the technical field of navigation, and in particular relates to an inertial navigation deviation correction method, device, equipment and medium based on echo detection.

Background technique

With the advancement of science and technology and the increase of demand, the application of intelligent logistics equipment is gradually increasing. Taking ships as an example, inertial navigation is gradually being widely used during transportation. The main purpose of using inertial navigation on ships today is to determine the position, speed and course of the ship, so as to realize the navigation and navigation control of the ship. Inertial navigation does not require external reference objects, and only needs to measure the acceleration and angular velocity of the ship through the inertial measurement unit, so as to realize accurate ship navigation.

Today's ship inertial navigation systems use inertial measurement units to measure the ship's acceleration and angular velocity, and calculate the ship's position and heading based on kinematic and dynamic principles. Before use or installation, the ship's inertial navigation system needs to be calibrated statically, that is, the IMU (Inertial Measurement Unit, Inertial Measurement Unit) is installed in a static state of the ship, and the static attitude information measured by the gyroscope and accelerometer is used to calibrate the IMU. error, thereby improving the accuracy of inertial navigation.

However, in actual use, if there are errors in the IMU, such as gyroscope drift or accelerometer zero bias, etc., static calibration cannot completely eliminate the errors, resulting in a decrease in the accuracy of inertial navigation. If there is an error but cannot be identified, it may lead to inaccurate calculation of the position and course of the ship while sailing, and may even cause the ship to deviate from the scheduled route or cause other safety problems. Therefore, how to autonomously perform error identification and precision alarm on the inertial navigation equipment on the ship during the operation of the ship is an urgent problem to be solved in this field.

Contents of the invention

The embodiment of the present application provides an inertial navigation deviation correction method, device, equipment and medium based on echo detection. , if there is an error, the problem cannot be identified. This scheme can obtain the motion parameters of the hull through multiple inertial navigation components, reduce the error caused by the use of a single component, and through the joint verification of the information obtained by different components, the error of the inertial navigation component can be found and processed in time, and the navigation result of the ship can be improved. accuracy.

In the first aspect, the embodiment of the present application provides an inertial navigation deviation correction device based on echo detection, the method comprising:

Obtain the installation location of the pre-installed inertial navigation components on the ship;

During the sailing process of the ship, the motion parameters of the hull are calculated through at least two inertial navigation components installed in the position to obtain at least two motion parameters; and the position information of the target is identified through the echo detection component;

Verifying at least two of the motion parameters obtained through calculation according to the position information, and identifying whether there is an error in the motion parameters;

If there is an error, correct the deviation according to the inertial navigation component that generated the error.

Further, before the position information of the target is identified by the echo detection component, the method further includes:

Transmit and receive echo detection data according to the echo detection component, and determine whether there is an object satisfying the target marking condition according to the echo detection data;

If present, mark the target object;

Correspondingly, the position information of the target is identified through the echo detection component, including:

The position information of the target object relative to the current position of the hull is determined through the echo detection component.

Further, before performing target labeling, the method also includes:

determining the target operating parameters of the echo detection assembly according to the distance between the object satisfying the target marking condition and the echo detection assembly;

Accordingly, carry out target marking, including:

Target labeling is performed using the target operating parameters.

Further, according to the position information, the at least two motion parameters obtained through the calculation are verified, including:

According to the position information, determine the first waypoint and the second waypoint during the navigation of the hull;

Determining the deviation value of the first waypoint and the deviation value of the second waypoint of the hull by using the motion parameters obtained through the calculation;

The motion parameters obtained through the calculation are verified according to the first waypoint deviation value and the second waypoint deviation value.

Further, according to the position information, the at least two motion parameters obtained through the calculation are verified, including:

According to the position information, determine the first waypoint and the second waypoint during the voyage of the hull, and the voyage duration of the hull moving from the first waypoint to the second waypoint;

Using the motion parameters obtained from the calculation to determine the deviation value of the voyage time of the hull from the first waypoint to the second waypoint;

The motion parameters obtained through the calculation are verified according to the voyage duration deviation value.

Further, after the position information of the target is identified by the echo detection component, the method further includes:

determining the deviation tolerance according to the position information of the target;

Correspondingly, verifying at least two of the motion parameters obtained through the calculation to identify whether there is an error in the motion parameters includes:

Verifying at least two of the motion parameters obtained through the calculation, and if it is identified that the motion parameters exceed the deviation tolerance, it is determined that there is an error; if it is identified that the motion parameters do not exceed the deviation tolerance, then It is determined that there is no error.

Further, correction processing is performed according to the inertial navigation component that generates the error, including:

According to the ratio of the number of inertial navigation components that generate errors to the total number of inertial navigation components, determine the target inertial navigation component;

Perform deviation correction processing on the target inertial navigation component.

In the second aspect, the embodiment of the present application provides an inertial navigation deviation correction device based on echo detection, and the device includes:

The obtaining module is used to obtain the installation position of the pre-installed inertial navigation component on the ship;

The calculation and identification module is used to calculate the motion parameters of the hull through at least two inertial navigation components installed in the ship's navigation process to obtain at least two motion parameters; and identify the position of the target through the echo detection component information;

A verification module, configured to verify at least two of the motion parameters obtained through calculation according to the position information, and identify whether there is an error in the motion parameters;

The deviation correction module is used to perform deviation correction processing according to the inertial navigation component that generates the error if there is an error.

Further, the device also includes an echo detection data receiving module, and the echo detection data receiving module is used for:

Transmit and receive echo detection data according to the echo detection component, and determine whether there is an object satisfying the target marking condition according to the echo detection data;

If present, mark the target object;

Correspondingly, the solving and identifying module is used for:

The position information of the target object relative to the current position of the hull is determined through the echo detection component.

Further, the device also includes a target working parameter determination module, and the target working parameter determination module is used for:

determining the target operating parameters of the echo detection assembly according to the distance between the object satisfying the target marking condition and the echo detection assembly;

Correspondingly, the echo detection data receiving module is used for:

Target labeling is performed using the target operating parameters.

Further, the verification module is used for:

According to the position information, determine the first waypoint and the second waypoint during the navigation of the hull;

Determining the deviation value of the first waypoint and the deviation value of the second waypoint of the hull by using the motion parameters obtained through the calculation;

The motion parameters obtained through the calculation are verified according to the first waypoint deviation value and the second waypoint deviation value.

Further, the verification module is used for:

According to the position information, determine the first waypoint and the second waypoint during the voyage of the hull, and the voyage duration of the hull moving from the first waypoint to the second waypoint;

Using the motion parameters obtained from the calculation to determine the deviation value of the voyage time of the hull from the first waypoint to the second waypoint;

The motion parameters obtained through the calculation are verified according to the voyage duration deviation value.

Further, the device also includes a deviation tolerance determination module, and the deviation tolerance determination module is used for:

determining the deviation tolerance according to the position information of the target;

Correspondingly, the verification module is used for:

Verifying at least two of the motion parameters obtained through the calculation, and if it is identified that the motion parameters exceed the deviation tolerance, it is determined that there is an error; if it is identified that the motion parameters do not exceed the deviation tolerance, then It is determined that there is no error.

Further, the deviation correction module is used for:

According to the ratio of the number of inertial navigation components that generate errors to the total number of inertial navigation components, determine the target inertial navigation component;

Perform deviation correction processing on the target inertial navigation component.

In a third aspect, an embodiment of the present application provides an electronic device, the electronic device includes a processor, a memory, and a program or instruction stored in the memory and operable on the processor, and the program or instruction is The processor implements the steps of the method described in the first aspect when executed.

In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or an instruction is stored, and when the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented .

In the fifth aspect, the embodiment of the present application provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions, so as to implement the first aspect the method described.

In the embodiment of the present application, the installation position of the pre-installed inertial navigation component on the ship is obtained; during the navigation of the ship, the motion parameters of the hull are calculated through at least two inertial navigation components at the installation position, and at least two motion parameters are obtained. parameter; and identify the position information of the target through the echo detection component; according to the position information, check at least two of the motion parameters obtained through the solution, and identify whether there is an error in the motion parameter; if there is an error, according to The inertial navigation components that generate errors are corrected. Through the above-mentioned inertial navigation correction method based on echo detection, the motion parameters of the hull can be obtained through multiple inertial navigation components, reducing the error caused by the use of a single component, and the inertial navigation can be discovered and processed in time by jointly verifying the information obtained by different components Component errors improve the accuracy of the ship's navigation results.

Description of drawings

Fig. 1 is a schematic flow chart of an inertial navigation correction method based on echo detection provided in Embodiment 1 of the present application;

Fig. 2 is a schematic flow chart of the inertial navigation correction method based on echo detection provided by Embodiment 2 of the present application;

Fig. 3 is a schematic structural diagram of an inertial navigation correction device based on echo detection provided in Embodiment 3 of the present application;

FIG. 4 is a schematic structural diagram of an electronic device provided in Embodiment 4 of the present application.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, specific embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only parts relevant to the present application are shown in the drawings but not all content. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe various operations (or steps) as sequential processing, many of the operations may be performed in parallel, concurrently, or simultaneously. In addition, the order of operations can be rearranged. The process may be terminated when its operations are complete, but may also have additional steps not included in the figure. The processing may correspond to a method, function, procedure, subroutine, subroutine, or the like.

The following will clearly describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, but not all of them. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in this application belong to the protection scope of this application.

The terms "first", "second" and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific sequence or sequence. It should be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application can be practiced in sequences other than those illustrated or described herein, and that references to "first," "second," etc. distinguish Objects are generally of one type, and the number of objects is not limited. For example, there may be one or more first objects. In addition, "and/or" in the specification and claims means at least one of the connected objects, and the character "/" generally means that the related objects are an "or" relationship.

The echo detection-based inertial navigation deviation correction method, device, equipment, and medium provided in the embodiments of the present application are described in detail below through specific embodiments and application scenarios with reference to the accompanying drawings.

Embodiment one

FIG. 1 is a schematic flow chart of an inertial navigation deviation correction method based on echo detection provided in Embodiment 1 of the present application. As shown in Figure 1, it specifically includes the following steps:

S101. Obtain the installation location of the pre-installed inertial navigation component on the ship.

First of all, the application scenario of this solution can be to receive the data from the inertial navigation component and the echo detection component through the smart terminal, and to verify the motion parameters of the ship to identify whether there is an error in the motion parameter. If there is an error, it will automatically generate an error The scene where the inertial navigation component performs deviation correction.

Based on the above usage scenarios, it can be understood that the subject of execution of this application can be integrated calculation of hull motion parameters, identification of target object position, verification of motion parameters, and automatic control of ships that automatically perform deviation correction processing functions when there are errors in motion parameters system, do not make too many restrictions here.

In this solution, the inertial navigation component can be a device used to measure the motion state of the ship, usually including sensors such as gyroscopes and accelerometers, used to measure the ship's attitude, acceleration and angular velocity, and calculate the ship's position and speed and heading information. The inertial navigation component mainly relies on physical principles, and calculates the motion state and position information of the ship through the parameter data measured by the sensor, combined with mathematical models and algorithms.

The installation location may refer to the installation location of the inertial navigation component on the ship. Inertial navigation components usually need to be installed in a stable position of the ship to ensure that the measured data are accurate and reliable. Easy to repair and replace.

You can use the following methods to obtain the installation location of the inertial navigation component:

1. Use laser scanners and other equipment to scan the ship, and identify the position of the inertial navigation components through 3D modeling technology;

2. Use machine vision technology to capture the appearance of the ship through cameras or drones, and then use image recognition technology to automatically identify the position of the inertial navigation components

3. Use the ship's own sensor equipment, such as accelerometers and gyroscopes, to automatically identify the position of the inertial navigation components through data collection and processing.

S102. During the sailing process of the ship, calculate the motion parameters of the hull through at least two inertial navigation components installed at the positions to obtain at least two motion parameters; and identify the position information of the target through the echo detection component.

The motion parameters of the hull can be calculated by inertial navigation components at least two installation positions, and the motion parameters such as the position, speed and direction of the hull can be obtained. These motion parameters are the basic information necessary for evaluating the motion state of the ship and performing navigation control.

An echo detection component can be a device, usually including a transmitter, a receiver, a signal processor, and a display, to detect information such as the position and depth of an object underwater, such as water depth, seabed topography, fish school, etc. Echosounding components on ships are commonly used to measure the position and depth of underwater obstacles, as well as the contours and features of underwater terrain.

Targets may refer to objects that may exist around the ship during navigation, including other ships, buoys, reefs, and potential obstacles. During the ship's navigation, identifying the position information of the target object through the echo detection component can help the ship avoid collisions with these objects or other unexpected situations.

The position information of the target object may refer to the underwater position coordinates of the target object, usually represented by parameters such as longitude, latitude, and depth.

To solve the motion parameters of the hull through inertial navigation components in at least two installation positions, you can first measure the acceleration, angular velocity, and attitude angle of the hull in the horizontal and vertical directions, and then use kinematics and dynamics to calculate The motion parameters such as the speed, position and attitude angle change of the hull. Multi-sensor data fusion technology can be used in the solution to calibrate, fuse and filter data from different sensors. For example, there are two inertial navigation assemblies mounted on a ship, one at the bow and one at the stern. By comparing the speed difference measured by the bow and stern inertial navigation components, the speed of the ship in the horizontal direction can be calculated; by comparing the acceleration difference measured by the bow and stern inertial navigation components, the ship can be calculated in the vertical direction Acceleration; by analyzing the output data of the inertial navigation component, the heading angle and pitch angle of the ship can be calculated.

The position information of the target is identified through the echo detection component, and sonar technology can be used, which uses the propagation characteristics of sound waves in water for detection and positioning. When sound waves encounter substances with different densities and speeds of sound, phenomena such as reflection, scattering, and refraction will occur, thereby generating echo signals. By measuring the time, amplitude and frequency characteristics of the echo signal, the distance, direction, shape and material of the target can be judged. For example, when a ship approaches a reef, the echo detection component sends sound waves, which propagate through the water and are reflected back by the reef. After receiving the echo signal, the echo detection component converts the signal into the position information of the reef through a signal processing algorithm.

On the basis of the above technical solutions, optionally, after the position information of the target is identified by the echo detection component, the method further includes:

determining the deviation tolerance according to the position information of the target;

Correspondingly, verifying at least two of the motion parameters obtained through the calculation to identify whether there is an error in the motion parameters includes:

Verifying at least two of the motion parameters obtained through the calculation, and if it is identified that the motion parameters exceed the deviation tolerance, it is determined that there is an error; if it is identified that the motion parameters do not exceed the deviation tolerance, then It is determined that there is no error.

In this solution, the deviation tolerance can be the error tolerance of the ship's motion parameters during the ship's autonomous navigation process, that is, the allowable error range. In practical applications, the size of the deviation tolerance is usually determined by factors such as the navigation requirements of the ship, the size and distance of the target, and the motion performance of the ship. If deviation tolerances are exceeded, adjustments or corrections are required to ensure safe navigation of the vessel.

If the target is an underwater obstacle, the deviation tolerance can be determined according to the size and shape of the obstacle and the position of the obstacle. The size and shape of underwater obstacles can determine the minimum safe distance between the hull and obstacles, which in turn affects the setting of deviation tolerance. The larger the obstacle, the smaller the deviation tolerance, and it is necessary to ensure a safe distance between the hull and the obstacle. The location of obstacles also affects the setting of deviation tolerance. If the obstacle is on the centerline of the channel, the deviation tolerance needs to be smaller to ensure that the hull does not collide with the obstacle.

After the deviation tolerance is determined, each motion parameter can be judged by using the motion parameters obtained through the calculation and the deviation tolerance. Specifically, the error range that may exist in the actual navigation of the motion parameter is calculated, that is, the calculation result of the motion parameter is added to the deviation tolerance and subtracted from the deviation tolerance to obtain the upper limit and the lower limit. Then, the actually measured value of the motion parameter is compared with the upper limit value and the lower limit value. If the actually measured value of the motion parameter is between the upper limit and the lower limit, it is determined that the calculation result of the motion parameter is correct and there is no error. If the actually measured value of the motion parameter exceeds the upper limit or the lower limit, it is determined that there is an error in the calculation result of the motion parameter.

In this solution, by determining the deviation tolerance according to the position information of the target object, and verifying the motion parameters obtained through the calculation, the error situation of the motion parameters can be effectively identified. At the same time, regular verification of motion parameters can also detect and correct errors in motion parameters in time, and improve the positioning accuracy and navigation accuracy of ships.

S103. Verify at least two of the motion parameters obtained through calculation according to the position information, and identify whether there is an error in the motion parameters.

According to the position information of the target object, the motion state of the hull at different positions can be determined, and then the expected motion state of the hull at the corresponding position can be calculated according to the calculated motion parameters. By comparing the expected motion state with the actual motion state, it is possible to identify whether there is an error in the motion parameters. Specifically, the actual motion state of the hull at different positions can be determined according to the position information of the target object, such as parameters such as position, speed, and attitude. Then, the expected motion state of the hull at the corresponding position is calculated according to the motion parameters obtained through calculation, and compared with the actual motion state. If there is a large deviation, it indicates that there is an error in the motion parameters. For example, if the calculated motion parameters predict that the hull should have a specific velocity and attitude at a certain position, but the actual velocity and attitude of the hull at this position are not as expected, it means that there is an error in the motion parameters.

On the basis of the above technical solutions, optionally, according to the position information, the at least two motion parameters obtained through the calculation are verified, including:

According to the position information, determine the first waypoint and the second waypoint during the navigation of the hull;

Determining the deviation value of the first waypoint and the deviation value of the second waypoint of the hull by using the motion parameters obtained through the calculation;

The motion parameters obtained through the calculation are verified according to the first waypoint deviation value and the second waypoint deviation value.

In this solution, if the target object is an underwater obstacle, the first waypoint can be the current hull position, and the second waypoint can be the target position to avoid the obstacle. Specifically, the second waypoint can be set around the obstacle or a certain distance away from the obstacle, so as to ensure that the hull will not hit the obstacle again. The hull will advance at a certain speed during navigation, and the time and distance required to reach the second waypoint can be calculated according to the current position and navigation path. For example, if a ship needs to avoid an underwater obstacle, the first waypoint and the second waypoint can be determined according to the position of the obstacle. If the position of the target obstacle is 100 meters in front of the hull, assuming that the course angle of the ship is 0 degrees (that is, pointing to the north direction), you can set the first waypoint to be 400 meters in front of the current hull position, that is, at the current The position is 100 meters straight ahead, and then swims 300 meters upstream; the second waypoint can be set 200 meters ahead of the first waypoint, that is, 200 meters straight ahead of the first waypoint. Setting the first waypoint and the second waypoint in this way can ensure that the ship can safely avoid obstacles and continue sailing.

The first waypoint deviation value may indicate the distance deviation between the current position of the hull and the first waypoint, and the second waypoint deviation value may indicate the distance deviation between the current position of the hull and the second waypoint. According to these deviation values, the sailing direction and speed of the hull can be adjusted in real time.

Information such as the current position and speed of the hull can be determined through the motion parameters obtained through the calculation. According to the position and heading of the target, the coordinates of the first waypoint and the second waypoint that the hull needs to reach can be calculated. By comparing the coordinates of these two points with the coordinates of the current position, the deviation value of the first waypoint and the deviation value of the second waypoint of the hull can be calculated. Specifically, methods such as vector calculation can be used for calculation.

The positions of the first waypoint and the second waypoint that the ship is expected to arrive at can be calculated according to the motion parameters obtained through the calculation. Then, according to the difference between the ship's actual arrival position and the expected arrival position, the first waypoint deviation value and the second waypoint deviation value are calculated. Comparing whether the first waypoint deviation value and the second waypoint deviation value meet a preset threshold range, so as to verify each motion parameter. If the deviation value is within the threshold range, it means that the calculated motion parameters are reliable and the ship has traveled on the expected path; otherwise, the calculated motion parameters need to be further adjusted to ensure that the ship can travel on the expected path.

In this solution, the deviation can be found and corrected in time by continuously checking the motion parameters of the hull, so as to ensure the navigation accuracy and stability of the ship. During the voyage, due to the influence of various factors, such as water current, wind direction and tide, etc., these factors may cause the ship to deviate from the original route, timely detection and correction of the deviation can effectively guarantee the safety and efficiency of the ship's navigation .

On the basis of the above technical solutions, optionally, according to the position information, the at least two motion parameters obtained through the calculation are verified, including:

According to the position information, determine the first waypoint and the second waypoint during the voyage of the hull, and the voyage duration of the hull moving from the first waypoint to the second waypoint;

Using the motion parameters obtained from the calculation to determine the deviation value of the voyage time of the hull from the first waypoint to the second waypoint;

The motion parameters obtained through the calculation are verified according to the voyage duration deviation value.

In this solution, the sailing time of the hull moving from the first waypoint to the second waypoint may be the time required for the hull to move from the first waypoint to the second waypoint.

If the target is an underwater obstacle, after the first waypoint and the second waypoint are determined, the voyage time of the hull moving from the first waypoint to the second waypoint can be determined by the following steps:

1. Obtain the ship's speed and heading from the ship's navigation system or sensor.

2. Calculate the straight-line distance between the first waypoint and the second waypoint.

3. According to the speed and course of the ship, calculate the time required for the ship to travel this distance. If the speed of the ship remains constant, it can be calculated by dividing the distance by the speed of the ship. If the ship's speed varies, the average ship's speed can be used to calculate the time.

The voyage time deviation value may refer to the difference between the actual voyage time of the hull moving from the first waypoint to the second waypoint and the theoretical voyage time calculated according to the motion parameters obtained through calculation.

In order to determine the deviation value of the voyage time when the hull moves from the first waypoint to the second waypoint, the theoretical voyage time can be calculated first. Assuming that the distance that the hull needs to sail from the first waypoint to the second waypoint is d, and the speed of the hull in the water is v, then theoretically, the sailing time of the hull from the first waypoint to the second waypoint is t, then:

;

Among the motion parameters obtained by the calculation, there may be certain errors in parameters such as the speed of the hull and the heading angle, which may lead to a deviation between the actual sailing time and the theoretical sailing time. Therefore, the actual voyage time t1 can be calculated by using the motion parameters obtained from the calculation, and then the theoretical voyage time can be subtracted from the actual voyage time to obtain the voyage time deviation t2:

;

The following steps can be used to verify the motion parameters obtained by the solution:

1. For the motion parameters involved, determine their sensitivity to the duration of the voyage. For example, if you want to verify the accuracy of a ship's speed, you need to determine how speed affects the duration of the voyage.

2. Based on the motion parameters involved, their expected values are calculated. For example, if you want to verify the accuracy of the sailing speed of the hull, you can calculate the sailing speed of the hull in an ideal state based on factors such as the size of the hull and the output power of the engine.

3. Calculate the actual voyage distance according to the voyage duration obtained from the calculation and the expected value of the motion parameters involved. For example, according to the sailing time obtained by the solution and the theoretical sailing speed expectation value, the actual sailing distance of the hull can be calculated.

4. Comparing the calculated actual sailing distance with the target distance, so as to calculate the sailing distance deviation value. For example, if the target distance is 500 meters, but the calculated actual sailing distance is 400 meters, the sailing distance deviation value can be calculated as 100 meters.

5. Calculate the deviation value of each motion parameter according to the deviation value of the voyage time and the deviation value of the voyage distance, and the sensitivity of the motion parameters involved. For example, if the deviation value of the sailing distance is 100 meters, and the influence of the hull sailing speed on the sailing distance is that every 1 meter/second corresponds to 10 meters, the deviation value of the hull sailing speed can be calculated as 10 meters/second.

6. Judging whether the calculated deviation value of each motion parameter exceeds a preset error range. If the deviation value exceeds the preset range, it can be considered that there is an error in the motion parameter, and further inspection and correction are required. If the deviation value is within a preset range, it can be considered that the motion parameter is accurate.

In this solution, the accuracy verification and verification of the hull motion parameters can be carried out to identify whether there is an error in the motion parameters. If there is an error, it can be adjusted and corrected in time to improve the precision and accuracy of the hull movement. At the same time, the precise control and verification of the hull motion parameters can also improve the safety and navigation efficiency of the ship.

S104, if there is an error, perform deviation correction processing according to the inertial navigation component that generated the error.

The error-generating inertial navigation components can be corrected by the following methods:

1. Based on the position and heading of the inertial navigation component, combined with other ship sensors, such as GPS (Global Positioning System, Global Positioning System) and compass, etc., the motion parameters of the ship are estimated and compared with the data output by the inertial navigation component , so as to determine the amount of error.

2. Based on the error amount and combined with the motion state of the ship, use a filter algorithm, such as Kalman filter and extended Kalman filter, to correct the data output by the inertial navigation component. The filtering algorithm can process the measurement data of the sensor according to the characteristics of the sensor and the distribution of noise, so as to eliminate noise and errors and obtain more accurate data.

On the basis of the above-mentioned technical solutions, it is optional to perform deviation correction processing according to the inertial navigation component that generates the error, including:

According to the ratio of the number of inertial navigation components that generate errors to the total number of inertial navigation components, determine the target inertial navigation component;

Perform deviation correction processing on the target inertial navigation component.

In this solution, the target inertial navigation component can be any one of the inertial navigation components that have produced deviations but have not been corrected. For example, there are a total of 6 inertial navigation components, and the number of inertial navigation components that produce deviations is 5. The number of inertial navigation components that need to be corrected If there are 2, then there are 2 target inertial navigation components. Correspondingly, the ratio of the number of inertial navigation components that generate errors to the total number of inertial navigation components is 5/6.

The number of components that generate errors among all inertial navigation components can be counted first, and their proportion to the total can be calculated. Then determine the number of inertial navigation components that need to be corrected according to the ratio. For example, it can be set that the proportion of inertial navigation components that need to be corrected accounts for 1/2 of the ratio of the number of inertial navigation components that generate errors to the total number of inertial navigation components. If there are 8 inertial navigation components in total, and there are 4 inertial navigation components that generate deviations, then there are 2 inertial navigation components that need to be corrected, that is, there are 2 inertial navigation components to determine the target. Among them, you can set the error correction from small to large, because components with small errors are usually more reliable than components with large errors, so correcting components with small errors first can improve the accuracy and reliability of the entire inertial navigation system sex.

The following methods can be used to correct the target inertial navigation component:

1. Initially align the gyroscope in the inertial navigation component so that it can output accurate angular velocity information.

2. Integrate the angular velocity information output by the inertial navigation component to obtain the attitude information, and calculate the position information through the attitude information.

3. Use the difference between the two inertial navigation components to correct the deviation. One way is to compare the output of the two components, find the one with the least deviation, and then apply the deviation to the other component; the other way is to average the output of the two components, and then apply the average to both components to minimize errors.

4. The output of the inertial navigation component is fused with the output of other sensors, such as GPS and compass, to obtain more accurate position information.

In this solution, by correcting the inertial navigation component, the error introduced by the component can be eliminated or reduced, thereby improving the overall accuracy of the inertial navigation system. At the same time, since only the components with errors are corrected, unnecessary deviation correction operations can be avoided for all components, saving time and resources.

In the embodiment of the present application, the installation position of the pre-installed inertial navigation component on the ship is obtained; during the navigation of the ship, the motion parameters of the hull are calculated through at least two inertial navigation components at the installation position, and at least two motion parameters are obtained. parameter; and identify the position information of the target through the echo detection component; according to the position information, check at least two of the motion parameters obtained through the solution, and identify whether there is an error in the motion parameter; if there is an error, according to The inertial navigation components that generate errors are corrected. Through the above-mentioned inertial navigation correction method based on echo detection, the motion parameters of the hull can be obtained through multiple independent inertial navigation components, reducing the error caused by using a single component. By jointly verifying the information obtained by different components, the errors of the inertial navigation components can be discovered and dealt with in time, and the ship can be prevented from deviating from the scheduled route during navigation, thereby improving the safety of the ship's navigation.

Embodiment two

Fig. 2 is a schematic flow chart of an inertial navigation deviation correction method based on echo detection provided in Embodiment 2 of the present application. As shown in Figure 2, it specifically includes the following steps:

S201. Obtain the installation location of the pre-installed inertial navigation component on the ship.

S202. During the sailing process of the ship, the motion parameters of the hull are calculated by using at least two inertial navigation components at installation positions, to obtain at least two motion parameters.

S203. Transmit and receive echo detection data according to the echo detection component, and determine whether there is an object satisfying a target marking condition according to the echo detection data.

The echo detection data may refer to the acoustic signal data returned to the detection instrument after the sound wave emitted by the echo detection instrument propagates in water, interacts with a target object, and returns to the detection instrument. The echo detection data can contain information such as the propagation time and reflection intensity of the sound wave, and is used to analyze the characteristics of the target object such as position, shape, and size.

The target marking condition may mean that the object detected by the echo detection instrument has certain characteristics, specifically, it may be that the reflection intensity is higher than a certain threshold, and the shape and size conform to the characteristics of the target object. Through the analysis and processing of the echo detection data, it can be determined whether there is an object meeting the target marking condition. For example, when the echo detection component detects a seabed rock, it can record information such as the distance, depth and azimuth of the target object relative to the hull, and this information can be used to help the ship avoid the rock. Marking conditions. The target marking condition can also be information such as the shape, size and reflectivity of the target.

The echo detection component can emit sound waves and receive echo signals, and process the echo signals to determine whether there is an object that meets the target marking conditions. Specifically, the echo detection component sends the emitted acoustic wave signal underwater, and measures the time difference between its arrival and return, and then calculates the distance between the target object and the echo detection component according to the time difference. At the same time, the echo detection component can also identify information such as the type and shape of the target object by processing the characteristics such as the intensity and frequency of the echo signal. When the echo detection component detects a target object, echo signals will be generated, and these signals will be sent to a computing device for processing after certain signal processing. During the processing, it can be judged according to the preset target marking conditions, such as the shape, size and reflectivity of the target, so as to determine whether there is a target object satisfying the conditions.

If the target marking condition is information such as the distance, depth and azimuth angle of the target relative to the hull, first, the echo detection component can emit an acoustic signal and measure its return time and intensity. By analyzing the return time and intensity of the echo signal, the distance and depth information of the target object relative to the hull can be calculated. The azimuth information in the echosounding data can then be used to determine the position of the target relative to the hull. The echosounding unit is usually rotatable to scan the surrounding water and record the number of azimuths at which objects are detected. These angles can be compared with the orientation angles of the hull to determine the azimuth information of the target relative to the hull. Finally, according to the obtained information such as the distance, depth and azimuth of the target relative to the hull, it can be judged whether the target marking condition is satisfied. If the distance, depth, azimuth and other information of the target match the preset conditions, it can be determined that there is a target meeting the marking condition.

On the basis of the above technical solutions, optionally, before carrying out target labeling, the method also includes:

determining the target operating parameters of the echo detection assembly according to the distance between the object satisfying the target marking condition and the echo detection assembly;

Accordingly, carry out target marking, including:

Target labeling is performed using the target operating parameters.

In this solution, the target working parameters may refer to the operating parameters that need to be adjusted by the echo detection component when the distance between the object that satisfies the target marking condition and the echo detection component is known, and may include the frequency and pulse width of the transmitted signal , waveform and received signal gain, bandwidth, sampling rate and other parameters.

The target operating parameters of the echo sounding assembly can be determined by the following steps:

1. Calculate the distance between the target object and the echo detection component according to the time difference between the acoustic wave signal emitted by the echo detection component and the received echo signal.

2. According to the working parameters of the echo detection component and the motion parameters of the hull, the propagation speed of the sound wave in the water and the position of the echo detection component are calculated.

3. According to the distance between the target object and the echo detection component, the propagation speed of the sound wave in the water and the position of the echo detection component, the position information of the target object is calculated by using the principle of triangulation.

4. Calculate the target operating parameters of the echo detection component according to the position information of the target object and the motion parameters of the hull.

For example, if the target is a reef, when the echo detection component detects the underwater reef, the distance to the reef can be calculated by measuring the round-trip time of the echo signal. According to this distance, the frequency and amplitude of the emitted sound wave, as well as parameters such as gain and threshold can be determined, so that the echo detection component can better detect the target and obtain more accurate depth information.

After the position information of the target object relative to the hull and the target working parameters of the echo detection component are determined, the target object can be marked by the echo detection component. The specific marking method can be marking the position of the target on the chart, or generating a three-dimensional model of the target in the on-board computer.

In this solution, the working parameters of the echo detection component are automatically adjusted according to the distance between the target object and the echo detection component, which can improve the detection efficiency and accuracy of the target object. At the same time, due to the automatic adjustment of working parameters, the complexity of manual operations and the risk of errors can be reduced, and the safety and reliability of operations can be improved.

S204, if it exists, mark the target object.

The target can be marked on the electronic map, or the relevant information of the target can be recorded in the on-board computer system. After the target is marked, shipboard equipment, such as radar and GPS, can be used to track the target to ensure the relative position and distance between the ship and the target

S205. Determine the position information of the target object relative to the current position of the hull by using the echo detection component.

After the echo detection component emits sound waves, the sound waves will bounce back on the surface of the target object. The echo detection component receives the reflected signal and processes the signal to obtain the distance information between the target object and the echo detection component. At the same time, the echo detection component can also scan the surrounding environment by changing the direction of the emitted sound waves, and obtain the azimuth information of the target object and the hull. By continuously scanning the surrounding environment, the echo detection component can obtain the distance and azimuth information of the target object at different times, and can calculate the position of the target object relative to the current position of the hull according to the motion parameters of the hull and the hull position information obtained by the inertial navigation component information.

S206. Check at least two of the motion parameters obtained through calculation according to the position information, and identify whether there is an error in the motion parameters.

S207, if there is an error, perform deviation correction processing according to the inertial navigation component that generated the error.

In this embodiment, the navigation efficiency can be improved by marking the target object, so that the ship can go to the destination more accurately. Through the echo detection technology to find the target object in time and determine its position information relative to the hull, the position information of the obstacle can be detected in time, and corresponding avoidance measures can be taken to avoid accidents and improve the navigation safety of the ship.

Embodiment three

Fig. 3 is a schematic structural diagram of an inertial navigation deviation correction device based on echo detection provided in Embodiment 3 of the present application. As shown in Figure 3, the details include the following:

An acquisition module 301, configured to acquire the installation location of the pre-installed inertial navigation component on the ship;

The calculation and identification module 302 is used to calculate the motion parameters of the hull through at least two inertial navigation components installed in the ship's navigation process to obtain at least two motion parameters; and identify the target object through the echo detection component location information;

A verification module 303, configured to verify at least two motion parameters obtained through calculation according to the position information, and identify whether there is an error in the motion parameters;

The deviation correction module 304 is configured to perform deviation correction processing according to the inertial navigation component that generates the error if there is an error.

Further, the device also includes an echo detection data receiving module, and the echo detection data receiving module is used for:

Transmit and receive echo detection data according to the echo detection component, and determine whether there is an object satisfying the target marking condition according to the echo detection data;

If present, mark the target object;

Correspondingly, the solving and identifying module is used for:

The position information of the target object relative to the current position of the hull is determined through the echo detection component.

Further, the device also includes a target working parameter determination module, and the target working parameter determination module is used for:

determining the target operating parameters of the echo detection assembly according to the distance between the object satisfying the target marking condition and the echo detection assembly;

Correspondingly, the echo detection data receiving module is used for:

Target labeling is performed using the target operating parameters.

Further, the verification module is used for:

According to the position information, determine the first waypoint and the second waypoint during the navigation of the hull;

Determining the deviation value of the first waypoint and the deviation value of the second waypoint of the hull by using the motion parameters obtained through the calculation;

The motion parameters obtained through the calculation are verified according to the first waypoint deviation value and the second waypoint deviation value.

Further, the verification module is used for:

According to the position information, determine the first waypoint and the second waypoint during the voyage of the hull, and the voyage duration of the hull moving from the first waypoint to the second waypoint;

Using the motion parameters obtained from the calculation to determine the deviation value of the voyage time of the hull from the first waypoint to the second waypoint;

The motion parameters obtained through the calculation are verified according to the voyage duration deviation value.

Further, the device also includes a deviation tolerance determination module, and the deviation tolerance determination module is used for:

determining the deviation tolerance according to the position information of the target;

Correspondingly, the verification module is used for:

Verifying at least two of the motion parameters obtained through the calculation, and if it is identified that the motion parameters exceed the deviation tolerance, it is determined that there is an error; if it is identified that the motion parameters do not exceed the deviation tolerance, then It is determined that there is no error.

Further, the deviation correction module is used for:

According to the ratio of the number of inertial navigation components that generate errors to the total number of inertial navigation components, determine the target inertial navigation component;

Perform deviation correction processing on the target inertial navigation component.

In the embodiment of the present application, the obtaining module is used to obtain the installation position of the pre-installed inertial navigation component on the ship; the solution and identification module is used to use at least two inertial navigation components at the installation position during the navigation of the ship. The motion parameters of the hull are calculated to obtain at least two motion parameters; and the position information of the target is identified through the echo detection component; the verification module is used for at least two of the motion parameters obtained through the calculation The parameters are verified to identify whether there is an error in the motion parameter; the deviation correction module is used to perform deviation correction processing according to the inertial navigation component that generates the error if there is an error. Through the above-mentioned inertial navigation deviation correction device based on echo detection, the motion parameters of the hull can be obtained through multiple independent inertial navigation components, reducing errors caused by using a single component. By jointly verifying the information obtained by different components, the errors of the inertial navigation components can be discovered and dealt with in time, and the ship can be prevented from deviating from the scheduled route during navigation, thereby improving the safety of the ship's navigation.

The inertial navigation deviation correction device based on echo detection in the embodiment of the present application may be a device, or a component, an integrated circuit, or a chip in a terminal. The device may be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a handheld computer, a vehicle electronic device, a wearable device, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant, PDA), etc., non-mobile electronic devices can be servers, network attached storage (Network Attached Storage, NAS), personal computer (personal computer, PC), television (television, TV), teller machine or self-service machine, etc., this application Examples are not specifically limited.

The inertial navigation deviation correction device based on echo detection in the embodiment of the present application may be a device with an operating system. The operating system may be an Android (Android) operating system, an ios operating system, or other possible operating systems, which are not specifically limited in this embodiment of the present application.

The echo detection-based inertial navigation deviation correction device provided in the embodiments of the present application can implement the various processes implemented in the above-mentioned method embodiments, and to avoid repetition, details are not repeated here.

Embodiment Four

As shown in Figure 4, the embodiment of the present application also provides an electronic device 400, including a processor 401, a memory 402, a program or instruction stored in the memory 402 and operable on the processor 401, the program or instruction When executed by the processor 401, each process of the embodiment of the above-mentioned inertial navigation deviation correction device based on echo detection can be achieved, and the same technical effect can be achieved. To avoid repetition, details are not repeated here.

It should be noted that the electronic devices in the embodiments of the present application include the above-mentioned mobile electronic devices and non-mobile electronic devices.

Embodiment five

The embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by the processor, the various processes of the above embodiment of the inertial navigation deviation correction device based on echo detection are realized , and can achieve the same technical effect, in order to avoid repetition, it will not be repeated here.

Wherein, the processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.

Embodiment six

The embodiment of the present application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to realize the above-mentioned inertial navigation based on echo detection The various processes of the embodiment of the deviation correcting device can achieve the same technical effect, so in order to avoid repetition, they will not be repeated here.

It should be understood that the chips mentioned in the embodiments of the present application may also be called system-on-chip, system-on-chip, system-on-a-chip, or system-on-a-chip.

It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. Functions are performed, for example, the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on this understanding, the essence of the technical solution of the present application or the part that contributes to the prior art can be embodied in the form of computer software products, and the computer software products are stored in a storage medium (such as ROM/RAM, disk , optical disc), including several instructions to enable a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

The embodiments of the present application have been described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementations. The above-mentioned specific implementations are only illustrative and not restrictive. Those of ordinary skill in the art will Under the inspiration of this application, without departing from the purpose of this application and the scope of protection of the claims, many forms can also be made, all of which belong to the protection of this application.

The above are only preferred embodiments of the present application and the applied technical principles. The present application is not limited to the specific embodiments described here, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not depart from the protection scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present application, and the present application The scope is determined by the scope of the claims.

Claims (10)

1. A method for rectifying inertial navigation based on echo detection, characterized in that the method comprises: Obtain the installation location of the pre-installed inertial navigation components on the ship; During the sailing process of the ship, the motion parameters of the hull are calculated through at least two inertial navigation components installed in the position to obtain at least two motion parameters; and the position information of the target is identified through the echo detection component; Verifying at least two of the motion parameters obtained through calculation according to the position information, and identifying whether there is an error in the motion parameters; If there is an error, correct the deviation according to the inertial navigation component that generated the error. 2. The inertial navigation deviation correction method based on echo detection according to claim 1, wherein, before the position information of the target is identified by the echo detection component, the method further comprises: Transmit and receive echo detection data according to the echo detection component, and determine whether there is an object satisfying the target marking condition according to the echo detection data; If present, mark the target object; Correspondingly, the position information of the target is identified through the echo detection component, including: The position information of the target object relative to the current position of the hull is determined through the echo detection component. 3. the inertial navigation deviation correction method based on echo detection according to claim 2, is characterized in that, before carrying out target marking, described method also comprises: determining the target operating parameters of the echo detection assembly according to the distance between the object satisfying the target marking condition and the echo detection assembly; Accordingly, carry out target marking, including: Target labeling is performed using the target operating parameters. 4. The inertial navigation deviation correction method based on echo detection according to claim 1, characterized in that, according to the position information, at least two of the motion parameters obtained by solving are checked, including: According to the position information, determine the first waypoint and the second waypoint during the navigation of the hull; Determining the deviation value of the first waypoint and the deviation value of the second waypoint of the hull by using the motion parameters obtained through the calculation; The motion parameters obtained through the calculation are verified according to the first waypoint deviation value and the second waypoint deviation value. 5. The inertial navigation deviation correction method based on echo detection according to claim 1, characterized in that, according to the position information, at least two of the motion parameters obtained by solving are checked, including: According to the position information, determine the first waypoint and the second waypoint during the voyage of the hull, and the voyage duration of the hull moving from the first waypoint to the second waypoint; Using the motion parameters obtained from the calculation to determine the deviation value of the voyage time of the hull from the first waypoint to the second waypoint; The motion parameters obtained through the calculation are verified according to the voyage duration deviation value. 6. The inertial navigation deviation correction method based on echo detection according to claim 1, characterized in that, after identifying the position information of the target by the echo detection component, the method further comprises: determining the deviation tolerance according to the position information of the target; Correspondingly, verifying at least two of the motion parameters obtained through the calculation to identify whether there is an error in the motion parameters includes: Verifying at least two of the motion parameters obtained through the calculation, and if it is identified that the motion parameters exceed the deviation tolerance, it is determined that there is an error; if it is identified that the motion parameters do not exceed the deviation tolerance, then It is determined that there is no error. 7. The method for rectifying deviation of inertial navigation based on echo detection according to claim 1, characterized in that, the deviation correction process is carried out according to the inertial navigation component that generates the error, including: According to the ratio of the number of inertial navigation components that generate errors to the total number of inertial navigation components, determine the target inertial navigation component; Perform deviation correction processing on the target inertial navigation component. 8. An inertial navigation deviation correction device based on echo detection, characterized in that the device comprises: The obtaining module is used to obtain the installation position of the pre-installed inertial navigation component on the ship; The calculation and identification module is used to calculate the motion parameters of the hull through at least two inertial navigation components installed in the ship's navigation process to obtain at least two motion parameters; and identify the position of the target through the echo detection component information; A verification module, configured to verify at least two of the motion parameters obtained through calculation according to the position information, and identify whether there is an error in the motion parameters; The deviation correction module is used to perform deviation correction processing according to the inertial navigation component that generates the error if there is an error. 9. An electronic device, characterized in that it includes a processor, a memory, and a program or instruction stored on the memory and operable on the processor, and the program or instruction is implemented when executed by the processor. The steps of the inertial navigation deviation correction method based on echo detection as described in any one of claims 1-7. 10. A readable storage medium, characterized in that a program or an instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the system based on any one of claims 1-7 is implemented. Steps of the inertial navigation correction method for echo sounding.