Model-free hull deformation measuring method based on attitude angle matching

Abstract

The invention provides a model-free hull deformation measuring method based on attitude angle matching, and relates to hull deformation measurement. An Euler angle between a ship center azimuth and attitude system and user equipment is used as the observed quantity, and an observation equation is established by combining a ship deformation angle and the attitude misalignment angle under the condition of considering the dual gyro drift. In order to avoid the condition that a priori mathematical model is established for the ship deformation angle, the deformation angle is fit by a neural network. In order to ensure the real-time performance of training the neural network, connecting weight coefficients of the neural network are expanded in a state variable, a system state equation and an observation equation are solved by using a nonlinear filter, and the ship deformation angle is optimally estimated. The model-free hull deformation measuring method is intuitive in theory and simple andconvenient to operate, meets the requirement on the real-time measurement of the deformation angle in ship sailing, and can reach 10 arc seconds in simulation precision.

Description

technical field [0001] The invention relates to hull deformation measurement, in particular to a model-free hull deformation measurement method based on attitude angle matching. Background technique [0002] The ship is not an absolute rigid body. It will be slightly deflected and deformed by the environment during sea navigation, such as sunlight, temperature, wind and waves. Although the deformation angle is small, it will seriously affect the relationship between the center attitude system and the shipboard equipment. The transfer alignment will greatly reduce the use accuracy of shipboard equipment, and more seriously will lead to the failure of mission execution. Therefore, in order to make full use of the high-precision navigation information of the center attitude system and realize the precise execution of high-precision tasks of shipboard equipment, it is necessary to continuously measure and correct the hull deformation in real time. In response to this problem, s...

AI Technical Summary

Problems solved by technology

Although these methods have achieved relatively good results in the simulation process, in the actual navigation process, it is difficult to match the model established in advance with the actual model. Even if the model is consistent, the deformation model of the ship is not fixed, even if the model is set Correct, the model parameters are also constantly changing due to changes in the environment, and it is difficult to accurately identify the model parameters

An inaccurate hull deformation model will greatly reduce the accuracy of the Kalman filter for deformation angle estimation, and even directly cause the Kalman filter to fail to converge

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