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| 一种油运船舶的组合姿态测量模型 | |
| 引用本文： | 刘长安,孟新宇,郑贵林. 一种油运船舶的组合姿态测量模型[J]. 西安石油大学学报(自然科学版), 2008, 23(3): 96-100 |
| 作者姓名： | 刘长安 孟新宇 郑贵林 |
| 作者单位： | 1. 武汉大学,自动化系,湖北,武汉,4300726;3655部队,新疆,乌鲁木齐,841700 2. 63655部队,新疆,乌鲁木齐,841700 3. 武汉大学,自动化系,湖北,武汉,430072 |
| 摘 要： | 实时准确地测量船舶姿态,对船舶运输安全作业、舰船减摇控制等具有重要意义.对坐标系及其转换关系进行了定义,推导构建了基于加表、陀螺和GPS的组合姿态测量系统测量元件模型和全量模型,通过状态方程和测量方程的分析推导对全量模型进行了线性化处理,并对连续系统模型作了离散化处理.依据姿态角、陀螺漂移和速度的误差状态方程,引进GPS测量值,对系统状态进行卡尔曼信息滤波估计,从而得到陀螺的漂移误差,使姿态角的测量达到良好的效果. |
| 关 键 词： | 油运船舶 姿态测量 陀螺 |
A model for the determination of the combinatorial attitude of oil transporting ship |
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| LIU Chang-an,MENG Xin-yu,ZHENG Gui-lin. A model for the determination of the combinatorial attitude of oil transporting ship[J]. Journal of Xian Shiyou University, 2008, 23(3): 96-100 | |
| Authors: | LIU Chang-an MENG Xin-yu ZHENG Gui-lin |
| Abstract: | The real-time and precise measurement of the oil ship's attitude is of great importance to the safe operation and stabilization control of it.Coordinate system and its conversion relation are defined,and the measuring element model and complete model in the combinatorial attitude determining system based on acceleration indicator,gyro and GPS are established.The complete model is linearized by analyzing and deducing state equation and measurement equation,and the complete model for continuous system is discreted.The error state equations of attitude angle,gyro drift and velocity are deduced,and Kalman filter estimation of the system state is constructed by using GPS measurement.So,the error of gyro drift and the better result of attitude angle can be gained. |
| Keywords: | oil transporting ship attitude determination gyro |
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