基于SINS舰船升沉测量误差分析与补偿

在利用捷联惯导系统(strapdown inertial navigation system, SINS)对舰船升沉运动测量中,针对传统方法采用积分环节和数字高通滤波器组合引起相位超前的问题,分析了超前相位对升沉测量精度的影响,提出了增加相应低通滤波器进行相位校正的方法。针对实际工程应用中升沉监测点与舰船重心(center of gravity, COG)往往不重合的问题,定义两者之间的距离为测量杆臂,分析了舰船升沉测量过程中由测量杆臂引起的杆臂升沉的产生机理,提出了杆臂升沉的计算方法,最终给出监测点处升沉的精确测量算法。仿真结果表明,提出的监测点处升沉测量算法测量误差在0.05 m以内,具有较高的精度和稳定性。

Error analysis and compensation based on ship heave measurement of SINS

Strapdown inertial navigation system (SINS) is always used to determine the ship's heave motion. Aiming at the problem that the traditional method by combination of integral block and the digital high-pass filter can cause the phase advance error, the influence of phase advance on heave measurement accuracy is analyzed and the method of phase correction by adding acorresponding low-pass filter is proposed. Aiming at the problem that the center of gravity (COG) of the ship and the heave monitoring point do not coincide in practical engineering application, the heave measurement lever arm is defined. The mechanism of the lever-arm heave caused by the measurement lever arm is analyzed and the calculation method of the lever-arm heave is proposed. Finally, an accurate measurement algorithm of heave at the monitoring point is given. The simulation results show that the measurement error is within 0.05 m; meanwhile the proposed algorithm has a high accuracy and stability.