摘要
针对小型船舶的运动姿态测量及自航模试验等不便安装姿态测量设备的问题,提出一种小型化便携式船舶姿态测量方法,并设计了相应的系统。通过分析船舶各点的运动状态,采用捷联方式,多组惯性器件直接敏感姿态参数,系统软件实现姿态解算。为保证系统的可靠性和克服惯性元件特性随环境的变化,研究了一种基于状态空间估计的软件算法。在不同海情下与传统Kalman滤波算法进行了仿真比较,验证了该算法的有效性。最后给出了该系统的实测结果,初步证明了系统的可行性。
A kind of mini-type and portable ship attitude measurement method and system were developed in this paper for small ship attitude measurement and self-propelled model trial, where attitude measurement equipment was inconvenient to install. By analyzing the motion state of every point in the ship, the strap-down mode was applied to measure the attitude parameters directly using several banks of inertial components, and system software was used to realize attitude algorithm. To ensure system reliability and overcome the characteristic changing of the inertial components with working environment, an algorithm based on state space estimation was proposed. The validity of this algorithm was proved by comparing the simulation result of this algorithm with that of traditional Kalman filtering in different sea-conditions. Finally, the results from real tests were given, which proves the feasibility of this system.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2008年第7期1548-1553,共6页
Chinese Journal of Scientific Instrument
基金
十五国防预研项目(1010604030104)资助
