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Pose detection system for sea wave active compensation system

An active compensation and detection system technology, which is applied in directions such as navigation through speed/acceleration measurement, can solve problems such as danger, and achieve the effects of ensuring accuracy, real-time performance, and ease of use

Inactive Publication Date: 2018-11-20
HARBIN ENG UNIV
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The wind turbine platform often needs to be repaired and maintained. However, due to the wind and waves at sea, it is very dangerous for people to go from the ship to the platform. It is very necessary for the offshore compensation platform to safely transport personnel and equipment from the ship to the wind turbine platform. The active wave compensation platform system needs The position and attitude information of the operation and maintenance ship affected by the waves, so a pose detection system for the active wave compensation system is needed

Method used

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  • Pose detection system for sea wave active compensation system
  • Pose detection system for sea wave active compensation system
  • Pose detection system for sea wave active compensation system

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Experimental program
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Effect test

Embodiment 1

[0021] Implementation 1: If figure 1 As shown, the pose detection system of the wave active compensation system is mainly composed of vertical datum, differential GPS, strapdown inertial navigation system and pose comprehensive calculation system. The vertical datum is used to detect the relative position of the heave direction of the operation and maintenance ship. The vertical datum contains an IMU inertial measurement unit that can measure acceleration. The inertial measurement unit is fixed on the heave of the pose detection system of the active wave compensation system. direction, when there is an acceleration a opposite to the direction of gravity in the heave direction, the current velocity vt can be obtained by integrating the acceleration:

[0022] v t =∫(a-g)dt (1)

[0023] The position change in the heave direction can be obtained by integrating the existing velocity:

[0024] x t =∫v t dt (2)

[0025] The strapdown inertial navigation system is used to detect...

Embodiment 2

[0050] Implementation 2: If figure 2 As shown, the strapdown inertial navigation system is placed at the center of the operation and maintenance ship, as shown at point C in the figure, and the vertical datum is placed at the center of the six-degree-of-freedom platform base of the active wave compensation system, as shown at point B , the differential GPS is placed on the top of the cab of the operation and maintenance ship, as shown at point A in the figure.

[0051] Let the pose matrix of point C be:

[0052]

[0053] Change the matrix to the following form:

[0054]

[0055] In the formula, R is the attitude matrix, and the unknown quantities contained in the matrix are given by the strapdown inertial navigation system after measurement and solution. The px and py in the formula are the horizontal relative position of point C, which is the automatic compensation time of the relative sea wave active compensation system The position value of is obtained by combining...

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Abstract

The invention provides a posture detection system for a sea wave active compensation system, and belongs to the technical field of navigation. The posture detection system mainly comprises a verticalreference instrument, a differential GPS, a strapdown inertial navigation system and a pose integrated solution system. The vertical reference instrument is used for detecting a relative position of aheave direction of an operation and maintenance vessel; the strapdown inertial navigation system is used for detecting attitude of the operation and maintenance vessel in three dimensions, and the strapdown inertial navigation system comprises a three-axis fiber-optic gyroscope and a three-axis accelerometer, and realizes the output of attitude information by solution; the differential GPS and the strapdown inertial navigation system are combined, and the horizontal position detection of the operation and maintenance vessel can be realized through information fusion and solution; the pose integrated solution system comprehensively solves the output information of the three systems, and completes the real-time detection of the three-dimensional position and attitude of the offshore operation and maintenance vessel. According to the invention, effective posture detection data are provided for the sea wave active compensation system, and the guarantee is provided for the safe and stableoperation of offshore platform operation and maintenance.

Description

technical field [0001] The invention belongs to the field of navigation technology, and specifically relates to a pose detection system for an active wave compensation system. The pose detection system can provide the attitude and position information of an operation and maintenance ship affected by waves for the active wave compensation system in real time. The active compensation of sea waves is realized by controlling the hybrid mechanism, ensuring that maintenance personnel can safely and smoothly walk to the wind turbine platform through the covered bridge on the platform, and effectively complete the maintenance and operation of the wind turbine. Background technique [0002] With the increasingly prominent energy and environmental issues, countries around the world are turning more attention to renewable energy, among which wind energy has become a clean energy that is generally welcomed in the world due to its own advantages, and wind power has become the most large-s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
Inventor 魏延辉郝晟功赵延峰徐丽学朱强王安琪刘静刘俊男郑志田晨光
Owner HARBIN ENG UNIV
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