Sea surface small target heaving motion measurement method

Abstract

The invention discloses a sea surface small target heaving motion measurement method, and mainly aims to solve the problem of obtaining a target heaving motion track to estimate sea condition information before a sea surface small target is recovered. The method mainly comprises the following steps: solving an SINS and GNSS combination result, extracting a heave motion track, calculating a wave height and an effective wave height, simulating a wave surface time history, and carrying out combined calculation on the SINS and the wave surface time history. According to the method, when the GNSS is effective, the heave motion trail is extracted from the combination result of the SINS and the GNSS, when the GNSS fails, effective wave height data is extracted from the heave motion trail of the previous time period, the wave surface time history in the next time period is simulated in combination with the wave spectrum, the SINS and the simulation value are combined for calculation, and the heave motion trail of the target is extracted. According to the method for simulating the wave surface time history by using the wave spectrum, the problem of sky divergence caused by the SINS under the condition of long-time loss of the GNSS is solved, and the method has an important reference value in the aspect of estimating sea condition information.

Description

technical field [0001] The invention belongs to the technical field of state measurement of small targets on the sea, and in particular relates to a method for measuring the heave motion of small targets on the sea surface by using the combined operation of SINS / GNSS and taking into account the lack of GNSS signals. Background technique [0002] With the gradual depletion of land resources, the pace of human development of the ocean is also accelerating, and more and more detection equipment has been put into the ocean. As the last and most important part of a mission to explore the oceans, equipment recycling can make or break the entire project. The recovery work of ocean exploration equipment after surfacing is greatly affected by the state of the ocean. From the experience of engineering practice, because the shaking of the ship in bad sea conditions will seriously threaten the operation safety of the crane, the recovery of equipment is often carried out in good sea con...

AI Technical Summary

Problems solved by technology

In engineering practice, after some small equipment surfaced, because the GNSS antenna in the cabin is close to the horizontal plane, the satellite signals are easily aff

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