Method for measuring hull deformation angle based on inertia instruments and iterative filtering algorithm

An iterative filtering algorithm, inertial instrument technology, applied in instruments, measuring devices, measuring angles, etc., can solve problems such as being unsuitable for long-term online measurement and increasing the amount of calculation

Active Publication Date: 2017-06-06
NAT UNIV OF DEFENSE TECH
View PDF0 Cites 11 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the calculation process of this method, as the calculation time increases, the calculation amount will increase sharply, so it is not suitable for long-term online measurement

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method for measuring hull deformation angle based on inertia instruments and iterative filtering algorithm
  • Method for measuring hull deformation angle based on inertia instruments and iterative filtering algorithm
  • Method for measuring hull deformation angle based on inertia instruments and iterative filtering algorithm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0095] figure 1 It is a flowchart of the implementation steps of the present invention. As shown in the figure, the present invention comprises four steps:

[0096] The first step: use the Kalman filter method to obtain the estimated value of the deformation angle. In this step, the observation equation and state equation are given by equations (9) to (18). In the observed variable Z Obtained by the main inertial navigation and sub-inertial navigation, r in the observed variable Z s It can be measured by a laser range finder. After starting the Kalman filter, the estimated value of the deformation angle can be calculated in real time.

[0097] Step 2: Analyze the power spectrum of the angular velocity observation residuals. This step follows the first step. While obtaining the estimated value of the deformation angle, the angular velocity observation residual and the specific force observation residual defined by equations (20) to (21) are simultaneously calculated. Ev...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention belongs to the technical field of transfer alignment in inertial navigation, and particularly relates to a method for measuring hull deformation angle based on inertia instruments, such as a gyroscope, an accelerometer and the like, and an iterative filtering algorithm. The method comprises the following steps: 1, evaluating an estimated value (FORMULA) of the deformation angle by utilizing a Kalman filtering method; 2, analyzing the power spectrum of an angular velocity observation residual; 3, using the angular velocity observation residual and a specific force observation residual as Kalman filtering observation variables for iterative filtering; 4, through calculation repetition of the second step and the third step, constantly correcting an estimated result in the first step till a corrected value (FORMULA) of the deformation angle is close to but not equal to a true value (FORMULA). By the method, in allusion to the environmental characteristics that a large ship is low in speed and swings weakly, the measurement accuracy of the deformation angle in a vertical direction can be significantly improved; meanwhile, the method is relatively small in calculation amount, and is suitable for online real-time measurement.

Description

technical field [0001] The invention belongs to the technical field of transfer alignment in inertial navigation, and in particular relates to a hull deformation angle measurement method based on inertial instruments such as gyroscopes and accelerometers and iterative filtering algorithms. Background technique [0002] Inertial navigation needs to accurately know the initial attitude of the moving carrier, otherwise the positioning error of the moving carrier will increase sharply with the increase of the distance. For ships, the high-precision primary inertial navigation system (hereinafter referred to as primary inertial navigation) can give accurate attitude information, and other equipment such as missiles and radar sub-inertial navigation systems (hereinafter referred to as sub-inertial navigation) will use the main Inertial navigation attitude information. However, the hull is not an ideal rigid body. Due to engine vibration, waves beating, and temperature changes bet...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G01C1/00G01C21/16
CPCG01C1/00G01C21/16
Inventor 秦石乔马相路吴伟郑佳兴王省书黄宗升战德军
Owner NAT UNIV OF DEFENSE TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap