基于CKF的非线性船体变形惯性测量方法

发布时间：2018-05-10 09:24

本文选题：船体变形 + 光纤陀螺　；参考：《哈尔滨工程大学学报》2017年02期

【摘要】：船体变形的精确测量对于优化大型船体结构设计、不同部位的刚度设计以及提高舰船传递对准精度都有很现实的意义,而基于惯性传感器的角速率匹配法是测量船体变形的研究热点。针对大型船体中惯性测量单元存在大安装误差角的情况,建立非线性的船体变形模型以及光纤陀螺的漂移模型,采用CKF滤波方法进行估计;理论推导了UKF与CKF两种非线性滤波的估计精度,并进行了理论比较分析与仿真验证。结果表明随着航向安装误差角从30°增加到50°,静态误差角和动态误差角的估计精度始终保持在20″以内。与UKF相比,随着系统非线性程度的增强,CKF的性能优势更加明显。
[Abstract]:The accurate measurement of ship deformation has practical significance for optimizing the design of large hull structure, designing the stiffness of different parts and improving the accuracy of ship transfer alignment. The angular rate matching method based on inertial sensor is the research focus of ship deformation measurement. The nonlinear hull deformation model and the drift model of fiber optic gyroscope (fog) are established in view of the large installation error angle of the inertial measurement unit in the large hull. The CKF filtering method is used to estimate the model. The estimation accuracy of UKF and CKF nonlinear filtering is deduced theoretically, and the theoretical comparison and simulation are carried out. The results show that the estimation accuracy of the static error angle and the dynamic error angle is always within 20 "with the increase of the heading mounting error angle from 30 掳to 50 掳. Compared with UKF, the performance advantage of UKF is more obvious with the increase of nonlinear degree of the system.
【作者单位】：哈尔滨工程大学自动化学院;
【基金】：国家自然科学基金项目(61203225) 黑龙江省自然科学基金项目(QC2014C069) 黑龙江省博士后科研启动资金(LBH-Q15032) 海洋工程国家重点实验室开放课题(1616)
【分类号】：U661.4;TN713

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