Surface ship horizontal attitude measurement method based on motion reference unit
A technology of reference unit and horizontal attitude, applied in the direction of measuring device, measuring angle, measuring inclination, etc., can solve the problems of inability to calculate the attitude, increase the system attitude error, cannot be separated, etc., to improve the accuracy of attitude measurement, The effect of high attitude measurement accuracy
Active Publication Date: 2020-06-19
南京惯性系科技有限公司
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Problems solved by technology
When the carrier has motion acceleration, the accelerometer output contains two parts: gravity acceleration and carrier motion acceleration, and the two accelerations cannot be directly separated, resulting in the inability to use the gravity acceleration as a reference for attitude calculation
That is, the motion acceleration can be considered as the disturbance acceleration, which increases the system attitude error
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[0035] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:
[0036] Attached below figure 1 For example, the present invention is described in more detail: the heave measurement method with lever arm compensation of the strapdown inertial navigation system includes the following steps:
[0037] Step 1, given the initial navigation parameters (t=0 moment): the initial alignment of the motion reference unit to obtain the initial quaternion Q(0);
[0038] Step 2. The system sets the sampling period h to collect the output signals of the gyroscope and accelerometer on the three axes in real time with f b =[f x b f y b f z b ] T ;Attitude calculation period H, attitude calculation period cycle flag k=1,2..., with H=t k -t k-1 . The attitude calculation period is equal to the system sampling period, ie H=h.
[0039] Step 3. Use the output information of the gyroscope to obtain the calculated quate...
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The invention discloses a surface ship horizontal attitude measurement method based on a motion reference unit, which belongs to the technical field of ship attitude measurement. The method comprisesthe specific steps of giving initial navigation parameters, and initially aligning a strapdown inertial navigation system to obtain an initial quaternion; setting a system sampling period and acquiring output signals of gyroscopes and accelerometers on three axes in real time; utilizing gyro output information to obtain a calculation quaternion, further obtaining a relation matrix of a carrier coordinate system and a geographic coordinate system, and judging the motion state of the carrier; then, obtaining a misalignment angle by utilizing the transfer matrix between the carrier coordinate system and the geographic coordinate system; and after a misalignment angle calculation value is obtained, updating and correcting the calculation quaternion. Even if the system has motion acceleration,optimal calculation of the misalignment angle is still kept. High attitude measurement precision of the system in different motion states is guaranteed, and the attitude measurement precision of the system is effectively improved.
Description
technical field [0001] The invention belongs to the technical field of ship attitude measurement, in particular to a method for measuring the horizontal attitude of a surface ship based on a motion reference unit. Background technique [0002] The invention is a method for measuring the horizontal attitude of a surface warship based on a motion reference unit, uses the output of an accelerometer and a gyroscope to judge the motion state of a carrier, and uses different methods to calculate the misalignment angle according to different motion states. Then use the real-time correction of the misalignment angle to calculate the quaternion to obtain the accurate horizontal attitude. When the carrier is in a low maneuvering state, the accelerometer can accurately measure the acceleration of gravity, and the output information of the accelerometer and gyroscope can be directly used to calculate the misalignment angle to obtain higher attitude measurement accuracy. When the carrie...
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Login to View More IPC IPC(8): G01C9/00G01C1/00G01C21/20
CPCG01C9/00G01C1/00G01C21/20G01C21/203
Inventor 奔粤阳高倩倩赵玉新周广涛李倩吴磊王坤李帅阳
Owner 南京惯性系科技有限公司