Dynamic deformation measurement method of ship deck of strapdown inertial navigation system

Abstract

The invention provides a dynamic deformation measurement method of a ship deck of a strapdown inertial navigation system. The method comprises the following steps of: (1) using the inertial navigationsystem of a measurement center for outputting posture, position and speed information; (2) duplicating data of the posture information of the inertial navigation system of the center to inertial navigation of ship-mounted equipment of the local deck and using the posture data information for establishing a conversion matrix between a carrier coordinate system * for calculating the inertial navigation of the ship-mounted equipment and a navigation coordinate system n, namely an initial strapdown matrix C*<n>; (3) selecting the second-order Markov process as a model for carrier dynamic deformation; and (4) establishing a Kalman filter state equation which takes errors of misalignment angles of two inertial navigation systems and errors of dynamic deformation angles of the local deck as state variables and a Kalman filter measurement equation which takes the speed difference and the posture difference between the two as measurement variables, and estimating the dynamic deformation anglesof the deck by Kalman filtering. The method does not need to change mounting structure specially, has good reliability, does not need to increase the equipment with high cost and has great feasibility.

Description

(1) Technical field [0001] The invention relates to a ship deck deformation measurement method of a strapdown inertial navigation system, in particular to a ship deck dynamic deformation measurement technology based on an optical fiber gyroscope. (2) Background technology [0002] The strapdown inertial navigation system replaces the physical platform of the traditional inertial navigation system with a mathematical platform, which greatly simplifies the design of the system, greatly reduces the cost, has high reliability and is easy to maintain, and has been more and more widely used. The navigation accuracy of the strapdown inertial navigation system depends largely on the accuracy of the initial alignment, and the accuracy of various fast initial alignment methods will be affected by the deck deformation angle, so it is of great significance to study the measurement of the deck deformation angle. [0003] On ships in active service, high-precision inertial navigation syst...

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Problems solved by technology

[0004] Many scholars at home and abroad have conducted in-depth research on this. The U.S. military aircraft has adopted the strain compensation method. The "Major Advanced Inertial Network" project funded by Wright Laboratory and participated by Boeing and Draper uses a direct measurement device for deformation. The elongation or compression of the resistance wire directly measures the deflection motion, but it requires a rather complicated photoelectric device, which is very expensive and difficult to be widely used. In order to solve this problem, some scholars have also studied the alignment of inertial navigation systems During the process, the deck deformation angle is estimated and tracked

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