Hull deformation angle estimation method based on interactive multi-model filtering

An interactive multi-model, deformation angle technology, applied in directions such as navigation through velocity/acceleration measurement, can solve problems such as affecting the estimation accuracy and uncertainty of deformation angle model parameters, and achieve the effect of high estimation accuracy

Inactive Publication Date: 2017-08-11
HARBIN ENG UNIV
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Problems solved by technology

[0003] When estimating the deformation angle of the hull, higher requirements are put forward for the establishment of the deformation a...

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  • Hull deformation angle estimation method based on interactive multi-model filtering
  • Hull deformation angle estimation method based on interactive multi-model filtering
  • Hull deformation angle estimation method based on interactive multi-model filtering

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Embodiment Construction

[0054] Below in conjunction with accompanying drawing, the present invention is described in more detail:

[0055] Step 1: Install a set of hull navigation devices on the bow and stern of the ship, namely the main inertial navigation and sub-inertial navigation, and establish a basic filtering model for the two sets of inertial navigation;

[0056] The system state vector of the basic filtering model is

[0057]

[0058] In the formula, δV represents the speed error between the main inertial navigation system and the sub-inertial navigation system, Indicates the attitude error of the main inertial navigation system and the sub-inertial navigation system, ▽ and ε represent the accelerometer zero bias and gyro drift, respectively, ξ represents the installation error angle between the main inertial navigation system and the sub-inertial navigation system, θ represents the deflection angle, Indicates the angular rate of deflection deformation.

[0059] The hull deformation mo...

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Abstract

The invention discloses a hull deformation angle estimation method based on interactive multi-model filtering. The method comprises the steps that firstly, a basic model of hull deformation angle estimation is set up, and then interaction models are set up; strapdown inertial navigation systems are set on a bow and a stern respectively, and hull motion information is measured; the hull motion information is processed based on a filter of the interaction model, and the hull deformation angle is estimated. According to the method, the interaction models are set up to cover the dynamic change range of the deformation angle, and the method is suitable for estimating the hull deformation angle under the model parameter uncertainty condition in the dynamic environment.

Description

technical field [0001] The invention relates to the field of ship hull deformation, and designs a method for estimating the hull deformation angle based on interactive multi-model filtering. Background technique [0002] With the advancement of science and technology, modern ships and ship-borne equipment are rapidly developing in the direction of high precision and high automation. Modern ships will be equipped with various navigation equipment and offensive and defensive equipment, including various radars, optical sighting equipment, Tracking and measuring equipment, missile launchers, etc. In order to ensure the normal operation of the equipment, it is necessary to establish a unified space attitude reference. However, the ship is not an absolute rigid body. When sailing at sea, the accuracy of the space attitude reference is severely restricted due to the deformation angle of the hull. Therefore, accurate estimation of hull deformation angle is of great significance f...

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Application Information

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IPC IPC(8): G01C21/16
Inventor 徐博段腾辉王艺菲王超郝芮但剑辉王星李盛新刘德政王光园
Owner HARBIN ENG UNIV
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