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Ship horizontal attitude measurement method based on fusion complementary filtering and Kalman filtering

A Kalman filter, measurement method technology, applied in radio wave measurement systems, measurement devices, navigation through velocity/acceleration measurement, etc., and can solve problems such as vibration effects

Active Publication Date: 2021-04-09
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003]The MEMS gyroscope has random drift characteristics, and its integral error accumulates over time. The accelerometer does not have cumulative error, but it is easily affected by carrier vibration

Method used

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  • Ship horizontal attitude measurement method based on fusion complementary filtering and Kalman filtering
  • Ship horizontal attitude measurement method based on fusion complementary filtering and Kalman filtering
  • Ship horizontal attitude measurement method based on fusion complementary filtering and Kalman filtering

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Embodiment 1

[0084] The present invention utilizes the micro-electromechanical inertial measurement unit gyroscope output signal collected in real time and accelerometer output signal f b (b represents the carrier coordinate system) to solve the strapdown inertial navigation, and initially obtain the position, velocity and attitude information of the carrier; then use the position data given by GPS as the external auxiliary information of the system, and use the indirect Kalman filter method to analyze the velocity error , Position error, platform misalignment angle and other state quantities are estimated in real time, and the preliminary navigation parameters are corrected. Finally, with the help of the specific force equation, the linear acceleration of the carrier and the Coriolis acceleration are compensated to obtain the theoretical output of the gravitational acceleration in the navigation system, and the proportional integral correction is used to compensate the integral error of ...

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Abstract

The invention belongs to the technical field of ship navigation guidance and control, and particularly relates to a ship horizontal attitude measurement method based on fusion complementary filtering and Kalman filtering. According to the invention, strapdown inertial navigation calculation is carried out by utilizing gyroscope output signals and accelerometer output signals of a micro-electromechanical inertial measurement unit, the signals are acquired in real time, and the advantages of each sensor are comprehensively utilized, so that high-precision horizontal attitude measurement of the system is realized. The linear acceleration and the Coriolis acceleration of the carrier in the maneuvering state are compensated through the navigation parameters subjected to Kalman filtering, a gyro integral error is compensated through complementary filtering, the horizontal attitude is kept at high-precision output, and even if the system has the motion linear acceleration, the attitude of the carrier can be accurately adjusted. The complementary filtering effect and the optimal calculation of the misalignment angle are still ensured, the system attitude measurement precision is effectively improved, and the method has a certain engineering application value.

Description

technical field [0001] The invention belongs to the technical field of ship navigation guidance and control, and in particular relates to a ship horizontal attitude measurement method based on fusion complementary filtering and Kalman filtering. Background technique [0002] With the development of micro-electro-mechanical system technology, low-cost MEMS IMU has more and more applications in the field of navigation. By using the inertial sensor based on micro-electro-mechanical system to measure the motion parameters, it can detect the complex motion state of the ship in the sea and output real-time The carrier attitude angle and linear displacement data represented by quaternion, Euler angle, etc., so as to realize the user's motion data collection of surface ships. [0003] Micro-electromechanical gyroscopes have random drift characteristics, and their integral errors accumulate over time. Accelerometers do not have cumulative errors, but are easily affected by carrier vi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16G01S19/47
CPCG01C21/20G01C21/165G01S19/47
Inventor 奔粤阳温官昊赵玉新吴磊李倩周广涛李帅阳高倩倩臧新乐魏廷枭
Owner HARBIN ENG UNIV
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