为了得到精确的船舶升沉运动信息，解决升沉加速度二次积分后的漂移和相位超前现象，基于卡尔曼滤波算法建立船舶升沉运动的多步观测模型，提出一种基于惯性测量和卡尔曼多步观测器的船舶升沉运动测量方法。首先，升沉平台模拟船舶升沉运动，使用惯性测量元件采集升沉加速度，经过滤波二次积分得到升沉位移。然后，对升沉加速度进行误差分析，运用升沉位移与升沉加速度的关系建立船舶升沉运动的状态空间模型并利用状态转移矩阵进行多步观测，消除升沉位移的漂移和延时。实验结果表明，本文所提出的测量方法可以解决不同幅值船舶运动中的偏移和相位超前问题，测量误差在0.01 m之内，体现了测量的精确性。
In order to obtain accurate ship heave motion information and solve the drift and phase advance phenomenon after the second integration of heave acceleration, a multi-step observation model of ship heave motion is established based on the kalman filter algorithm (KF). A method for measuring ship heave motion based on inertial measurement and KF multi-step observation is proposed. First, the heave platform simulates the heave motion of the ship, and the inertial measurement element is applied to collect the heave acceleration, and obtains the heave displacement after filtering and the quadratic integration. Then, perform error analysis. Finally, the relationship between heave displacement and heave acceleration is used to establish the state space model, and use the state transition matrix for multi-step observation to eliminate the drift and delay of heave displacement. The experimental results show that the measurement method proposed in this paper can solve the problems of offset and phase advance in ship motion with different amplitudes. The measurement error is within 0.01m, and the measurement accuracy is achieved.
2023,45(2): 60-64 收稿日期：2021-11-16
DOI：10.3404/j.issn.1672-7649.2023.02.011
分类号：U666.1
基金项目：国家自然科学基金资助项目(NSFC 62073213)；国家高技术研究发展计划项目(2013AA041106)
作者简介：张琴(1982-),女,博士,讲师,研究方向为多分布式船舶系统的运动预测及补偿控制.
