Ship heave movement measurement method based on optical fiber inertia measurement system

An inertial measurement and motion measurement technology, which is applied in the direction of navigation through velocity/acceleration measurement. It can solve the problems of large computational load, inability to truly and effectively respond to the ship's six-degree-of-freedom motion information, and complex models, achieving enhanced functionality. Effect

Active Publication Date: 2010-04-14
哈尔滨哈船导航技术有限公司
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Problems solved by technology

In this method, due to the complexity of the model and the large amount of calculation, the inevitable simplification process will bring large errors, and it cannot truly and effectively reflect the six degrees of freedom of the ship (roll, pitch, yaw, heave, etc.). , surge, swing) sports information

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  • Ship heave movement measurement method based on optical fiber inertia measurement system
  • Ship heave movement measurement method based on optical fiber inertia measurement system
  • Ship heave movement measurement method based on optical fiber inertia measurement system

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Embodiment Construction

[0031] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0032] In this embodiment, the ship's strapdown inertial system is installed at the center of the ship, and a fiber optic gyroscope with high precision is selected as its main component. combine figure 1 , the specific implementation steps of ship heave motion measurement are as follows:

[0033] Step 1. After fully warming up the fiber optic gyro strapdown inertial system, collect the output data of the fiber optic gyroscope and the accelerometer of each axis in real time. The warm-up time is set according to the specific system.

[0034] Step 2. Using the existing methods in the navigation computer, after the initial alignment, the more accurate real-time attitude information of the ship (pitch angle α, roll angle β, and yaw angle γ, all of which are small angles) is obtained, and further obtained , the relationship matrix between the carrier coordinate syste...

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Abstract

The invention provides a ship heave movement measurement method based on an optical fiber inertia measurement system, which comprises the following steps: acquiring output data of the optical fiber inertia measurement system in real time; obtaining a relation matrix of a carrier coordinate system b and a geographical coordinate system t; obtaining a relation matrix of the carrier coordinate system and a semi-fixed coordinate system; obtaining a translation acceleration of a vertical axis direction in the semi-fixed coordinate system; obtaining a speed of an Nth sampling point in the semi-fixed coordinate system; filtering the speed; and obtaining a translation displacement value of the vertical axis direction in the semi-fixed coordinate system. The invention provides ship heave movement information by using the traditional inertial measurement system through a certain measurement method, thereby increasing the maneuverability of ships and improving the content of navigation information.

Description

(1) Technical field [0001] The invention relates to a method for measuring the heave motion of a ship, specifically, without the help of external information, using the attitude information of the system and the output information of the accelerometer to autonomously measure the instantaneous displacement of the heave motion of the ship method. (2) Background technology [0002] The inertial measurement system applied to the ship is composed of the inertial measurement component and the navigation computer, which measures the position information of the ship and the attitude information of the ship in real time. Because it does not require any external information during the measurement process, does not radiate energy, has strong autonomy, good concealment, high measurement accuracy and real-time performance, it is widely used in the navigation systems of various ships. And play an important role in national defense construction has great significance and huge economic ben...

Claims

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Application Information

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IPC IPC(8): G01C21/18
Inventor 郝燕玲龚晶奔粤阳张鑫周广涛徐博曹冰柴永利张义李仔冰
Owner 哈尔滨哈船导航技术有限公司
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