NAVIS NavDP 4000 Series, Руководство по эксплуатации

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Sensors
Chapter 7
Sensors
7.1 Sensors Data Processing
The NAVIS NavDP 4000 system processes raw sensors data using complex Kalman-based filtration.
Data processing algorithms allow determining the faults like jumps, drift, high noise etc, and also allow the short
prediction when no data is received at all.
The results of processing is the output of filter of “main” sensor (priority sensor). For the continuity of processing
results in some situations, the bias factor is added.
7.1.1 Sensors Priority
Sensor Priority can be changed manually (by operator) or automatically when priority sensor is fault or turned off.
7.1.2 Sensors Fault Detection and Redundancy
– Median-like test for three sensors (gyros and VRS sensors). Two alarm levels are used: alarm only (with changing
the priority sensor) and reject sensor.
– “Discrepancy” test for two sensors (alarm only).
– Prediction test (alarm when raw data and fiter output discrepancy detected).
– Jump detection based of multi-hypothesis Kalman-like filter (with changing the priority sensor if necessary). This
test is useful for GPS-compasses.
7.1.3 Data Processing Results
The following processed data is calculated: heading and yaw rate for compasses, wind speed and wind direction for
wind sensor, pitch and roll angles for VRS.
7.2 Sensor Interface and Operations
Initiate the Sensors window (fig. 7.1) for the information about the sensors used by NAVIS NavDP 4000 .
The window is divided into three parts:
– navigation bar (see section 7.2.1);
– table containing the specified sensor group data (see section 7.3);
– graph/sensors parameters .
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