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Estimation method of ship motion and attitude based on Beidou and dimensionality-reduced imu data

A technology for ship motion and attitude estimation, applied in navigation calculation tools, navigation through speed/acceleration measurement, instruments, etc., can solve problems such as inability to accurately estimate ship motion attitude, decrease in measurement accuracy, and poor applicability, and achieve improvement The effect of system reliability, good applicability and low cost

Active Publication Date: 2022-04-05
中船鹏力(南京)大气海洋信息系统有限公司
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Problems solved by technology

[0005] Traditional detection methods generally establish a linear ship motion model and set the signal noise as Gaussian white noise, but in complex water environment, uncertain sea conditions (big wind and waves caused by weather changes) will make the ship motion attitude and sensor The statistical characteristics of the noise change, making the preset ship motion model and noise model inconsistent with the actual situation, resulting in a decrease in measurement accuracy and poor applicability, and it is impossible to accurately estimate the ship's motion attitude

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  • Estimation method of ship motion and attitude based on Beidou and dimensionality-reduced imu data
  • Estimation method of ship motion and attitude based on Beidou and dimensionality-reduced imu data
  • Estimation method of ship motion and attitude based on Beidou and dimensionality-reduced imu data

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[0059] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific preferred embodiments.

[0060] In the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "left side", "right side", "upper", "lower" are based on the orientations or positional relationships shown in the accompanying drawings, and are only For the purpose of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, "first", "second" and the like do not represent components importance, and therefore should not be construed as limiting the invention. The specific dimensions used in this embodiment are only for illustrating the technical solution, and do not limit the protection scope of the present in...

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Abstract

The invention discloses a method for estimating the motion attitude of a ship based on Beidou and dimensionality-reducing IMU data. The ship motion attitude model; finally, the recursive calculation of the particle filter algorithm is carried out to obtain the accurate estimation value of the ship motion attitude. The present invention fuses Beidou data and dimensionality-reduced IMU data to realize accurate and reliable estimation of the ship's motion attitude. Mainly, the method of the present invention can accurately estimate the ship's motion attitude in nonlinear and non-Gaussian scenarios, and has high reliability, Good applicability and low cost.

Description

technical field [0001] The invention relates to the field of multi-source information fusion, in particular to a ship motion attitude estimation method based on Beidou and dimension-reduced IMU data. Background technique [0002] When a ship sails at sea, due to the influence of complex sea conditions such as sea wind, sea waves and ocean currents, it will inevitably produce a six-degree-of-freedom swaying motion with mutual coupling, which makes the ship have great Security risks. Therefore, if the ship's motion attitude information can be accurately and reliably estimated, it will greatly improve the safety and stability of the ship's offshore operations, effectively guarantee the safe navigation and safe operation of the ship at sea, and promote the high-quality development of my country's marine economy. Social value, economic value and military value. [0003] At present, the commonly used ship motion attitude measurement methods include Global Positioning System (Glob...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20G01S19/47
CPCG01C21/165G01C21/203G01S19/47
Inventor 夏亮叶楠金家龙王祥刘希慧
Owner 中船鹏力(南京)大气海洋信息系统有限公司
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