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中文摘要: 大型舰船在海上航行过程中由于风浪作用、载荷变化、太阳照射以及载体机动等原因会产生一定的变形，该变形会极大地影响到舰载武器装备所需姿态信息的精度。针对这一问题，本文提出了在战位点安装惯性测量单元（IMU：陀螺+加速度计），直接根据IMU输出的速度增量和角速度信息，结合舰船主惯性导航系统的输出信息，利用卡尔曼滤波估计舰船变形角的方法。仿真结果表明，在中等海况下，本文所介绍的方法能够快速准确地估计出舰船变形角，在10秒钟内能达到1角分的精度。
中文关键词: 舰船变形测量 惯性测量单元 卡尔曼滤波 “速度增量+角速度”匹配
Abstract:Deformation of large ship may occur while sailing in the ocean, because of wind, wave, change of payload, sunshine and so on, this deformation will greatly affect the accuracy of attitude which is needed by the shipboard weapons. To solve this problem, IMUs(Inertial Measurement Unit, laser gyros and accelerometers) are installed on various action stations of the large ship , the output message about velocity increment and angular velocity of the IMUs are utilized to mach with the output of the inertial navigation system of the ship, Kalman filtering also used to estimate deformation angle. Simulation results show that, under middle ocean condition, the method presented in this paper can estimate the deformation of the ship in the accuracy less than 1 minute of arc within 10 seconds.
文章编号：cg10000761 中图分类号： 文献标志码：
基金项目:国防预先研究
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