Unlock instant, AI-driven research and patent intelligence for your innovation.

A Strapdown Inertial Navigation Heave Measurement Method Based on Phase Compensation

A technology of phase compensation and strapdown inertial navigation, which is applied in measuring devices, height/level measurement, navigation through speed/acceleration measurement, etc., can solve the problem of heave filter output phase leading, etc., to reduce heave displacement effect of error

Active Publication Date: 2021-07-16
HARBIN ENG UNIV
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a strapdown inertial navigation heave measurement method based on adaptive phase compensation technology that can solve the problem of the output phase lead of the traditional heave filter

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
  • A Strapdown Inertial Navigation Heave Measurement Method Based on Phase Compensation
  • A Strapdown Inertial Navigation Heave Measurement Method Based on Phase Compensation
  • A Strapdown Inertial Navigation Heave Measurement Method Based on Phase Compensation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0044] The present invention will be further described below in conjunction with the accompanying drawings.

[0045] Such as figure 1 The steps shown in the overall program flow:

[0046] (1) Use FPGA to collect real-time raw data of inertial devices installed in the strapdown inertial navigation system, obtain the horizontal attitude data of the carrier through horizontal channel navigation calculation, and obtain the acceleration data of the carrier in the vertical channel through projection calculation a z , the heave acceleration is processed through a high-pass filter, and a third-order high-pass filter is selected, and its transfer function is as follows:

[0047]

[0048] In the formula, Ω p Indicates the passband cut-off frequency of the system, and the value is 0.004Hz.

[0049] H in Figure 2 1 (s) represents a high-pass filter with a cutoff frequency of 0.002Hz, H 2(s) represents a high-pass filter with a cutoff frequency of 0.004 Hz. Usually, the heave moti...

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 hull line motion measurement, and in particular relates to a strapdown inertial navigation heave measurement method based on phase compensation. First collect gyroscope and accelerometer data, and obtain accurate vertical acceleration data through navigation calculation, filter out low-frequency interference items such as zero offset and Schuler oscillation through high-pass filter, and perform CZT on the output signal of high-pass filter in the heave frequency band Spectrum refinement analysis, design an adaptive all-pass filter according to the adaptive phase compensation algorithm, and perform phase compensation on the output signal of the high-pass filter to obtain an acceleration signal without phase error, obtain heave displacement information after double integration, and pass The high-pass filter and the adaptive all-pass filter can obtain the heave displacement information with the average value of the long-term heave displacement being zero. Platform heave compensation provides reference.

Description

technical field [0001] The invention belongs to the technical field of hull line motion measurement, and in particular relates to a strapdown inertial navigation heave measurement method based on phase compensation. Background technique [0002] There is a six-degree-of-freedom spatial movement of the ship during its travel, which includes axial movement along three coordinate axes and rotational movement around three coordinate axes. In the three movement modes along the axial direction, the azimuth axis The periodic reciprocating motion (heave) of the ship is more important than the ship's own heel and surge, and has the greatest impact and harm on the ship. The heave motion of the hull mostly occurs when it collides with wind and waves during driving, and its motion frequency is similar to the encounter frequency between ships and waves, and its period is usually between 5s and 25s, which can be attributed to high-frequency motion. Heave motion information can be applied...

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 Patents(China)
IPC IPC(8): G01C5/00G01C21/16
Inventor 王伟李帅锋李欣黄平
Owner HARBIN ENG UNIV