基于SINS舰船升沉测量误差分析与补偿

doi:10.3969/j.issn.1001-506X.2020.07.22

系统工程与电子技术 ›› 2020, Vol. 42 ›› Issue (7): 1590-1596.doi: 10.3969/j.issn.1001-506X.2020.07.22

基于SINS舰船升沉测量误差分析与补偿

奔粤阳(), 魏晓峰(), 高倩倩(), 赵显鹏(), 戴平安(), 孙炎()

哈尔滨工程大学自动化学院, 黑龙江哈尔滨 150001

收稿日期:2019-10-09 出版日期:2020-06-30 发布日期:2020-06-30
作者简介:奔粤阳(1981-),男,副教授,博士研究生导师,博士,主要研究方向为制导、导航与控制。E-mail:byy@hrbeu.edu.cn|魏晓峰(1994-),男,硕士研究生,主要研究方向为制导、导航与控制。E-mail:653202713@qq.com|高倩倩(1993-),女,博士研究生,主要研究方向为制导、导航与控制。E-mail:1872672793@qq.com|赵显鹏(1994-),男,硕士研究生,主要研究方向为制导、导航与控制。E-mail:1417873357@qq.com|戴平安(1994-),男,博士研究生,主要研究方向为制导、导航与控制。E-mail:daipingan@hrbeu.edu.cn|孙炎(1994-),女,博士研究生,主要研究方向为制导、导航与控制。E-mail:2294128271@qq.com
基金资助:
国家自然科学基金(51979047);中央高校基本科研业务费专项资金(3072019CFJ0404)

Error analysis and compensation based on ship heave measurement of SINS

Yueyang BEN(), Xiaofeng WEI(), Qianqian GAO(), Xianpeng ZHAO(), Ping'an DAI(), Yan SUN()

College of Automation, Harbin Engineering University, Harbin 150001, China

Received:2019-10-09 Online:2020-06-30 Published:2020-06-30
Supported by:
国家自然科学基金(51979047);中央高校基本科研业务费专项资金(3072019CFJ0404)

摘要/Abstract

摘要：

在利用捷联惯导系统(strapdown inertial navigation system, SINS)对舰船升沉运动测量中,针对传统方法采用积分环节和数字高通滤波器组合引起相位超前的问题,分析了超前相位对升沉测量精度的影响,提出了增加相应低通滤波器进行相位校正的方法。针对实际工程应用中升沉监测点与舰船重心(center of gravity, COG)往往不重合的问题,定义两者之间的距离为测量杆臂,分析了舰船升沉测量过程中由测量杆臂引起的杆臂升沉的产生机理,提出了杆臂升沉的计算方法,最终给出监测点处升沉的精确测量算法。仿真结果表明,提出的监测点处升沉测量算法测量误差在0.05 m以内,具有较高的精度和稳定性。

关键词: 升沉测量, 相位误差, 惯性测量单元, 升沉滤波器, 杆臂误差

Abstract:

Strapdown inertial navigation system (SINS) is always used to determine the ship's heave motion. Aiming at the problem that the traditional method by combination of integral block and the digital high-pass filter can cause the phase advance error, the influence of phase advance on heave measurement accuracy is analyzed and the method of phase correction by adding acorresponding low-pass filter is proposed. Aiming at the problem that the center of gravity (COG) of the ship and the heave monitoring point do not coincide in practical engineering application, the heave measurement lever arm is defined. The mechanism of the lever-arm heave caused by the measurement lever arm is analyzed and the calculation method of the lever-arm heave is proposed. Finally, an accurate measurement algorithm of heave at the monitoring point is given. The simulation results show that the measurement error is within 0.05 m; meanwhile the proposed algorithm has a high accuracy and stability.

Key words: heave measurement, phase error, inertial measurement unit (IMU), heave filter, lever arm error

中图分类号:

奔粤阳, 魏晓峰, 高倩倩, 赵显鹏, 戴平安, 孙炎. 基于SINS舰船升沉测量误差分析与补偿[J]. 系统工程与电子技术, 2020, 42(7): 1590-1596.

Yueyang BEN, Xiaofeng WEI, Qianqian GAO, Xianpeng ZHAO, Ping'an DAI, Yan SUN. Error analysis and compensation based on ship heave measurement of SINS[J]. Systems Engineering and Electronics, 2020, 42(7): 1590-1596.

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基于SINS舰船升沉测量误差分析与补偿

Error analysis and compensation based on ship heave measurement of SINS

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