Compensation of time delay in ship deformation measured by attitude matching

YANG Gong-liu; GUO Wei-lin; YUAN Er-kai

doi:10.3788/OPE.20152305.1409

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Compensation of time delay in ship deformation measured by attitude matching

更新时间：2020-08-13

- Compensation of time delay in ship deformation measured by attitude matching
- Optics and Precision Engineering Vol. 23, Issue 5, Pages: 1409-1415(2015)
- 作者机构：
  
  1. 北京航空航天大学仪器科学与光电工程学院北京,100191
  2. 惯性技术国防重点实验室北京,100191
  3. 中国人民解放军93716部队天津,301700
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20152305.1409
  CLC： U666.12
- Received：30 July 2014，
  
  Revised：26 September 2014，
  
  Published：25 May 2015
- 稿件说明：
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杨功流, 郭蔚林, 袁二凯. 姿态匹配法测量船体变形角中时间延迟的补偿[J]. 光学精密工程, 2015,23(5): 1409-1415

YANG Gong-liu, GUO Wei-lin, YUAN Er-kai. Compensation of time delay in ship deformation measured by attitude matching[J]. Editorial Office of Optics and Precision Engineering, 2015,23(5): 1409-1415
杨功流, 郭蔚林, 袁二凯. 姿态匹配法测量船体变形角中时间延迟的补偿[J]. 光学精密工程, 2015,23(5): 1409-1415 DOI： 10.3788/OPE.20152305.1409.

YANG Gong-liu, GUO Wei-lin, YUAN Er-kai. Compensation of time delay in ship deformation measured by attitude matching[J]. Editorial Office of Optics and Precision Engineering, 2015,23(5): 1409-1415 DOI： 10.3788/OPE.20152305.1409.

摘要

提出了一种时间延迟的估计方法来解决用姿态匹配法测量船体变形角时惯性测量单元(IMU)数据之间存在的时间延迟对测量精度的影响。首先

对光学测量得到的船体变形数据进行处理

确定船体变形过程的数学模型。然后

通过高精度的主惯导和子惯导输出的局部姿态信息进行惯性量匹配

并构建卡尔曼滤波器估计船体变形角。最后

在卡尔曼滤波器中加入时间延迟估计参数

对时间延迟进行估计和补偿。设计了一套惯导数据同步录取装置

验证了算法的有效性。实验结果表明:同步录取装置与时间延迟算法补偿所测得的船体变形角与光学测量得到的数据相近

均能达到纵挠角误差13"

横扭角误差12"

艏挠角误差5"的精度水平。得到的结果显示卡尔曼滤波能有效估计出时间延迟

从而有效补偿时间延迟的影响

提高变形角测量精度。

Abstract

To solve the influences of time delay between Inertial Measurement Unit(IMU) data on measuring accuracy in the attitude matching measurement of ship deformation

a time delay estimation method was established. Firstly

the ship deformation data measured by optical devices were proposed to confirm a mathematic model of ship deformation process. Then the local attitude information from high-accuracy master-Inertial Navigation Sytem(INS) and slaver-INS was used to match the inertia and Kalman filter equations were used to estimate the ship deformation. Moreover

the time delay parameters were added into the Kalman filter to estimate and compensate the time delay. Finally

an IMU data synchronous read device was designed to verify the effectiveness of proposed algorithm. Experimental results show that compensation results by IMU data synchronous read device and the algorithmic are similar to optical measurement data

and the pitch errors

rolling errors and the heading errors are 13"

12" and 5"

respectively. These results demonstrate that the Kalman filter estimates the time delay effectively

compensates the time delay and improves the measurement accuracy of ship deformation.

关键词

Keywords

references

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