Heave measurement method based on carrier attitude information

Abstract

The invention discloses a heave measurement method based on carrier attitude information. The heave measurement method comprises the following steps: periodically acquiring carrier attitude data information, wherein the attitude information comprises at least one of a rolling angle theta, a pitching angle gamma and a yawing angle; obtaining frequency and amplitude information of the carrier fluctuating with the sea waves according to the attitude information; designing a filter according to the frequency and amplitude information, wherein the filter comprises filter parameters such as a passband cut-off frequency fp, a stop-band cut-off frequency fs, a passband attenuation Ap, a stop-band attenuation As, a cut-off frequency [omega]c, a filtering order N and the like; acquiring the actual vertical acceleration information of a carrier by an inertial navigation system, and obtaining heaving motion information of the carrier through three times of filtering and two times of integration. According to the invention, the adaptive design of the filter for heave measurement based on attitude information is realized, and the precision of heave motion measurement of the carrier is improved.

Description

technical field [0001] The invention belongs to the field of measurement technology, in particular to a heave measurement method based on carrier posture information. Background technique [0002] Surface ships and underwater vehicles will produce heave motion with wave fluctuations during the mission, but the heave motion will seriously affect the efficiency and safety of carrier operations. Therefore, offshore ships and operating platforms usually need a heave compensation system to eliminate the influence of heave motion. At present, the combination of GPS and inertial navigation system is usually used to realize the vertical positioning of the surface operation carrier, but the measurement accuracy is only m level. In addition, the inertial navigation system can realize all-weather, all-region, and all-round autonomous navigation by virtue of its passive characteristics. However, due to the problem that the inertial navigation system has errors that accumulate and diver...

AI Technical Summary

Problems solved by technology

At present, the combination of GPS and inertial navigation system is usually used to realize the vertical positioning of the surface operation carrier, but the measurement accuracy is only m level

In addition, the inertial navigation system can realize all-weather, all-region, and all-round autonomous navigation by virtue of its passive characteristics. However, due to the problem that the inertial navigation system has errors that accumulate and diverge over time, especially vertically, it cannot be used for long-term navigation.

When the sea surface environment is harsh or underwater tasks are performed, GPS signals cannot be collected, and the heave information of surface ships and underwater vehicles will be distorted

In order to solve this problem, the Kalman filter is used to reduce the measurement error of the vertical heave, but the use of the Kalman filter has the following complements: 1) The system needs to be accurately modeled, and there are many error sources, which is difficult to achieve; 2) The workload of filter parameter debugging is very large; 3) It is difficult to improve the measurement accuracy

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