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

Abstract

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

CLC Number:

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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Error analysis and compensation based on ship heave measurement of SINS

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