Nonlinear flexural deflection estimation method based on inertial measurement matching

Abstract

The invention discloses a nonlinear flexural deflection estimation method based on inertial measurement matching. Firstly, a nonlinear system state equation including an installation error angle, flexural deflection, a flexural deflection first-order derivative, an flexural deflection angle, a flexural deflection angle first-order derivative, an accelerometer constant value, random offset, a gyroscope constant value and random drift is built; secondly, based on the difference between the accelerometer measurement value of a major node and the accelerometer measurement value of a child node and the difference between the gyroscope measurement value of the major node and the gyroscope measurement value of the child node, a nonlinear system measurement equation of a system is built; finally, by using a nonlinear wave filtering method, namely a Central Difference Kalman Filter (CDKF) estimation method, the flexural deflection and the flexural deflection angle of the child node at each moment are estimated. The method has the advantages of being high in calculation precision and easy to implement, and the estimation accuracy of the flexural deflection is improved.

Description

technical field [0001] The invention relates to a nonlinear deflection estimation method based on inertial measurement matching, which can be used for deflection measurement and deflection angle measurement of aircraft, ships and vehicles. Background technique [0002] The deflection deformation of the hull and airframe makes the motion parameters at each node have great differences. If the deflection deformation is not measured and compensated, this difference will seriously affect the measurement accuracy of the motion parameters at each node. Therefore, in order to achieve high-precision measurement of motion parameters at multiple nodes, it is necessary to measure and compensate the deflection deformation. [0003] There are two main types of deflection measurement methods, one is the optical measurement method based on optical sensors, and the other is the measurement method based on the distributed position and orientation measurement system (Position and Orientation S...

AI Technical Summary

Problems solved by technology

The measurement method based on distributed POS needs to establish a variety of error equations including main and subsystem attitude errors, speed errors, position errors, inertial device errors, installation errors, deflection deformation, etc. System inertial / satellite integrated navigation, subsystem transfer alignment and other complex calculations, and the need to introduce GPS, which increases the cost of the deformation measurement system

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