The invention discloses a ship heave measurement research method based on
minimum mean square error integrated navigation, belongs to the technical field of navigation, and aims at different sea condition environments, the method not only effectively inhibits
noise frequency bands by using
frequency domain point-by-point weighting, but also retains useful signals; efficient calculation is realized in combination with
fast Fourier transform, and the method is suitable for real-
time processing; and finally, a high-precision
time domain heaving
signal is obtained through inverse transformation, so that the output accuracy of the GNSS / INS integrated
navigation system is remarkably improved, relatively high adaptability and reliability are achieved, and high-precision measurement of ship heaving motion is realized. The method comprises the following steps: constructing a
frequency response function of a ship heave filter based on a
minimum mean square error criterion; the method specifically comprises the following steps: carrying out difference on an elevation observation value obtained by a GNSS / INS integrated
navigation system and heave true value data to obtain an elevation error sequence; then, power
spectral density analysis is performed on the elevation error and the heave
truth value signal to describe the
energy distribution characteristics of the error and the
target signal in the
frequency domain so as to deduce the
frequency response function of the filter. And after the construction is completed, multiplying the
frequency response function by the
frequency spectrum of the combined navigation elevation
signal frequency point by frequency point to obtain a filtered
frequency spectrum result. And finally, performing inverse
Fourier transform on the
frequency spectrum, and restoring the frequency spectrum to a
time domain so as to obtain more accurate ship heaving motion information.