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Time delay compensation-based model-free hull deformation measurement method

A technology of time delay compensation, measurement method, applied in the direction of measurement device, measurement angle, navigation through velocity/acceleration measurement, etc.

Active Publication Date: 2017-06-13
XIAMEN UNIV
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Problems solved by technology

[0011] The purpose of the present invention is to overcome the deficiencies of the prior art described above, to provide a method that can quickly estimate the deformation angle of a ship in real time without a priori model of the deformation angle, and estimate and compensate the time delay between the data Model-free hull deformation measurement method based on time-delay compensation

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[0070] Combine below figure 1 The present invention is further described.

[0071] (1) Press the first set of three-axis laser gyro LGU1 and the second set of three-axis laser gyro LGU2 figure 1 As shown, they are respectively installed near the center inertial navigation and shipboard equipment of the ship, and the installation error should be minimized during installation. The three sensitive axes of the first three-axis laser gyro LGU1 are named xyz, and the three sensitive axes of the second three-axis laser gyro LGU2 are named x’y’z’. The oy and oy' axes are along the longitudinal axis of the ship, the oz and oz' axes are perpendicular to the deck plane and point upwards, and the ox and ox' axes respectively form a right-handed orthogonal coordinate system with the other two axes;

[0072] (2) The inertial coordinate systems used by the first set of three-axis laser gyroscope LGU1 and the second set of three-axis laser gyroscope LGU2 are respectively taken as the corres...

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Abstract

The invention relates to the field of hull deformation measurement, and provides a time delay compensation-based model-free hull deformation measurement method which is capable of estimating a deformation angle of a ship in real time and quickly under a condition of no deformation angle prior model and estimating and compensating a time delay existing among data. The method comprises the following steps: installing two laser gyro systems near a ship center inertial navigation system and shipborne equipment; building a deformation filter observation amount according to attitude information at installation points; deducing a mathematic relation between an ideal attitude matrix and an actual attitude matrix through introduction of a time delay amount according to a quaternion attitude matrix, extending the time delay amount into a system state variable, estimating the deformation angle of the ship through a neutral network, extending a connection weight coefficient of the neutral network into the system state variable, solving a built system state equation and an observation equation by utilizing a nonlinear filter, and estimating to obtain the deformation angle of the ship and the size of the time delay.

Description

technical field [0001] The invention relates to the field of hull deformation measurement, in particular to a method for real-time dynamic measurement of hull deformation angle based on LGU (Laser Gyro Unit, laser inertial measurement unit) without modeling the deformation angle and considering time delay compensation. Background technique [0002] Modern ships of all types are equipped with high-precision offensive and defensive equipment and navigation equipment. In the process of tracking targets and carrying out precise strikes, in order to ensure the coordination of multiple devices, it is necessary to provide a unified heading and attitude that meet a certain degree of accuracy. parameters and their location and motion parameters. Since the hull is not an absolutely rigid body, the uniform spatial reference is affected by the deformation of the hull, which seriously reduces the accuracy of the shipboard equipment. Therefore, it is particularly important to measure and ...

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Application Information

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IPC IPC(8): G01C21/16G01C1/00
CPCG01C1/00G01C21/16
Inventor 彭侠夫何荧张霄力仲训昱杨功流
Owner XIAMEN UNIV
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