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A Large-angle Hull Deformation Measurement Method Based on Inertial Measurement Unit

A technology of inertial measurement unit and measurement method, which is applied in the direction of measurement device, navigation through speed/acceleration measurement, surveying and navigation, etc., and can solve problems such as installation errors

Active Publication Date: 2018-07-24
HARBIN ENG UNIV
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Problems solved by technology

[0004] In practice, due to the large hull, there is an installation error angle between the central IMU and the local IMU

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  • A Large-angle Hull Deformation Measurement Method Based on Inertial Measurement Unit
  • A Large-angle Hull Deformation Measurement Method Based on Inertial Measurement Unit
  • A Large-angle Hull Deformation Measurement Method Based on Inertial Measurement Unit

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Embodiment Construction

[0054] The present invention will be further described below in conjunction with accompanying drawing:

[0055] The invention is an inertial measurement unit-based large-angle hull deformation measurement angle. In this method, three-axis IMUs are placed at the measurement points on the ship, and a state-space model is established according to the relationship between the angular rate difference and the relative deformation angle measured by the two sets of IMUs, and real-time estimation and monitoring are performed. The characteristics of this method are: ① For the large installation error angle of the IMU and the random drift of the fiber optic gyro, a nonlinear system model is established; ② After theoretical comparative analysis and simulation verification, the results show that with the enhancement of the nonlinear degree of the system, the The estimation has a good estimation effect, and for the high-dimensional nonlinear system of deformation angle estimation, CKF has h...

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Abstract

The invention provides a large-angle boat body deformation measurement method based on an inertia measurement unit, which adopts a CKF filtering method and can guarantee relatively higher precision. The large-angle boat body deformation measurement method comprises the following steps: respectively mounting two inertia measurement units IMU1 and IMU2 at the center position and the prow position of a boat body; constructing a nonlinear model of a deformation angle; deducing a transformation relation between two carrier coordinate systems; determining an error model of each IMU; constructing a nonlinear state equation; constructing an observation equation of a system; performing time updating and measurement updating by adopting a CKF algorithm, and estimating and monitoring the deformation of the boat body. According to the large-angle boat body deformation measurement method, the nonlinear model based on an inertia measurement matching method is constructed; by the adoption of CKF filtering, the large-angle boat body deformation measurement method is suitable for nonlinear boat body deformation modeling and measurement, and the filtering precision of CKF filtering is higher than that of UKF filtering; the influence, which is caused by inaccuracy setting of a deformation angle parameter, on estimation is analyzed, and a main-frequency parameter optimization method based on boat attitude spectrum analysis is provided.

Description

technical field [0001] The invention proposes a large-angle hull deformation measurement method based on an inertial measurement unit, adopts a CKF filtering method at the same time, and can ensure relatively high precision. Background technique [0002] Many parts of modern ships are equipped with corresponding offensive and defensive equipment and navigation systems. Generally, the attitude, position, and motion parameters of these equipment are provided by the attitude equipment in the center of the ship. Since the stiffness of ship materials is not absolute, with the combined action of various external forces such as the beating of waves and the transfer of loads on the ship, the structure will inevitably gradually undergo long-term deformation, and some parts of the hull will reach a maximum deformation of 1 to 1.5 degrees. variable level. The central attitude equipment installed on the ship will inevitably produce a reference misalignment with the sub-equipment that d...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/18G01C21/20G01C21/00
CPCG01C21/00G01C21/18G01C21/203
Inventor 徐博王艺菲单为王超但剑辉王星郝芮
Owner HARBIN ENG UNIV
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