姿态匹配法测量船体变形角中时间延迟的补偿

杨功流; 郭蔚林; 袁二凯

doi:10.3788/OPE.20152305.1409

您当前的位置：

首页 >

文章列表页 >

姿态匹配法测量船体变形角中时间延迟的补偿

微纳技术与精密机械 | 更新时间：2020-08-13

- 姿态匹配法测量船体变形角中时间延迟的补偿
- Compensation of time delay in ship deformation measured by attitude matching
- 光学精密工程 2015年23卷第5期页码：1409-1415
- 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：
  
  国家自然科学基金资助项目(No.61340044)();飞行器海上测量与控制联合实验室开放基金资助项目(No.FOM2014OF018)()
- DOI：10.3788/OPE.20152305.1409
  中图分类号： U666.12
- 收稿日期：2014-07-30，
  
  修回日期：2014-09-26，
  
  纸质出版日期：2015-05-25
- 稿件说明：
移动端阅览
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

ABUBAKAR A, DOW R S. Simulation of ship grounding damage using the finite element method[J]. International Journal of Solids and Structures, 2013, 50(5):623.

朱昀炤, 汪顺亭, 缪玲娟, 等. 船体变形测量技术综述[J]. 船舶工程, 2007, 29(6):58-61. ZHU Y ZH, WANG SH T, MIAO L J, et al.. Review of measuring technique for ship deformation [J]. Ship Engineering, 2007, 29(6):58-61. (in Chinese)

李岩, 张尧禹, 岳俊华. 船体变形测量的新技术[J]. 光学精密工程, 2008, 16(11):2235-2238. LI Y, ZHANG Y Y, YUE J H. New technology of ship distortion measurement [J]. Opt. Precision Eng., 2008, 16(11):2235-2238. (in Chinese)

王晓明, 张尧禹, 乔彦峰. 用动态水平基准测量系统实时测量船体横扭角和纵挠角[J]. 光学精密工程, 2013, 21(2):294-300. WANG X M, ZHANG R Y, QIAO Y F.Real-time measurement of ship's transverse and vertical twist angles by dynamic horizontal datum measuring system [J]. Opt. Precision Eng. , 2013, 21(2):294-300. (in Chinese)

郑佳兴, 秦石乔, 王省书. 考虑准静态缓变量的船体角形变测量[J]. 中国惯性技术学报, 2011, 19(1):6-10. ZHENG J X, QIN SH Q, WANG X SH.Ship hull angular deformation measurement taking slow-varying quasi-static component into account [J]. Journal of Chinese Inertial Technology, 2011, 19(1):6-10. (in Chinese)

MICHITAKA ODA, NORICHIKA K. The deformation of ship's hull under construction [J]. Journal of Zosen Kiokai, 2010, 1965(118): 358-368.

MOCHALOV A V, KAZANTSEV.Use of the ring laser units for measurement of the moving object deformation [C]. Proceedings of SPIE, 2002(4680):85-92.

王曦峤, 陈熙源. 舰船甲板动态变形惯性测量方法研究[J]. 中国惯性技术学报, 2010, 18(2):24-29. WANG W Q, CHEN X Y.Inertial measurement method of ship dynamic deformation [J]. Journal of Chinese Inertial Technology, 2010, 18(2):24-29. (in Chinese)

袁二凯, 杨功流, 于沛, 等. 一种基于惯性匹配的船体姿态基准传递方法[J]. 舰船科学技术, 2014, 35(12):60-64. YUAN E K, YANG G L, YU P, et al.. Transfer method of ship's attitude references based on inertial matching method [J]. Ship Science and Technology, 2014, 35 (12):60-64. (in Chinese)

郑佳兴, 秦石乔, 王省书. 基于姿态匹配的船体形变测量方法[J]. 中国惯性技术学报, 2010, 18(2):175-180. ZHENG J X, QIN SH Q, WANG X SH.Attitude matching method for ship deformation measurement [J]. Journal of Chinese Inertial Technology, 2010, 18(2):175-180. (in Chinese)

高钟毓. 惯性导航系统技术[M]. 北京:清华大学出版社, 2012:224-253. GAO ZH Y.Inertial Navigation System[M].Beijing: Tsinghua University Press, 2012:224-253.

浏览量

686

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

压电陶瓷作动器的卡尔曼滤波输出反馈预测控制

基于MEMS/GNSS的多机协同无源定位

基于结构滤波器的伺服系统谐振抑制方法

基于结构滤波器的伺服系统谐振抑制

微光机系统工程设计工具