Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Ship large azimuth misalignment angle transfer alignment method based on volumetric Kalman filtering

A technology of Kalman filtering and transfer alignment, applied in the field of strapdown inertial navigation, which can solve the problems affecting transfer alignment accuracy and convergence speed.

Active Publication Date: 2018-05-04
HARBIN INST OF TECH
View PDF2 Cites 26 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Lever-arm effects can significantly affect the accuracy and convergence speed of transfer alignment and must be compensated for

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Ship large azimuth misalignment angle transfer alignment method based on volumetric Kalman filtering
  • Ship large azimuth misalignment angle transfer alignment method based on volumetric Kalman filtering
  • Ship large azimuth misalignment angle transfer alignment method based on volumetric Kalman filtering

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0077] The present invention will be further described below in conjunction with the accompanying drawings.

[0078] In order to verify the effectiveness of the present invention, Matlab is used to simulate the transfer alignment nonlinear model based on the volumetric Kalman filter when the ship has a large azimuth misalignment angle.

[0079] When a ship is sailing in the sea, it will be affected by wind and waves, resulting in a three-axis swing motion. The mathematical model is:

[0080]

[0081] In the formula, ψ, θ, γ represent heading angle, pitch angle and roll angle respectively; ψ m , θ m , gamma m is the swing angle amplitude; ω y , ω p , ω r is the rocking angular frequency; T i = 2π / ω i , (i=y,p,r) is the swing period; is the initial attitude angle; K is the initial heading.

[0082] The simulation parameters are set as follows:

[0083] Swing angle amplitude: ψ m = 5°, θ m = 15°, γ m = 10°;

[0084] Swing cycle: T y =8s,T p = 12s,T r = 6s;

...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a ship large azimuth misalignment angle transfer alignment method based on volumetric Kalman filtering. The ship large azimuth misalignment angle transfer alignment method comprises the following steps: firstly, converting a specific force output of a secondary inertial navigation accelerometer to a navigation coordinate system; carrying out filtering processing on the specific force by utilizing a Butterworth digital low-pass filter; secondly, carrying out inertial navigation calculation on primary and secondary inertial navigation respectively; transmitting speed, posture and angular speed information of the primary inertial navigation to a navigation computer of the secondary inertial navigation; constructing measurement by utilizing speed error, posture error and angular speed error between primary and secondary inertial navigation system; then establishing a state equation and a measurement equation under a large azimuth misalignment angle condition by adopting a matching manner of a speed, a posture and an angular speed; finally, carrying out volumetric Kalamn filtering calculation by utilizing the established state equation and measurement equation and estimating a mounting error angle between the secondary inertial navigation system and the primary inertial navigation system, so as to finish transfer alignment. By adopting the ship large azimuthmisalignment angle transfer alignment method, the rapid and high-precision alignment problem of a ship under a condition of a large azimuth misalignment angle and a large lever arm error is solved.

Description

technical field [0001] The invention relates to the technical field of strapdown inertial navigation, in particular to a volumetric Kalman filter-based transfer alignment method for large azimuth misalignment angles of ships. Background technique [0002] The inertial navigation system is an autonomous navigation system based on the principle of inertia. The strapdown inertial navigation system directly connects the gyroscope and accelerometer to the carrier to measure the angular motion and linear motion information of the carrier, and calculates the speed, position, attitude and heading information of the carrier relative to the earth through integral calculation. The initial alignment is a key technology of the strapdown inertial navigation system. The accuracy of the alignment directly affects the accuracy of the navigation system, and the time to complete the alignment directly affects the rapid response capability of the system. Transfer alignment is an initial alignm...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 高伟王凯张亚王岩岩
Owner HARBIN INST OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com