摘要
针对激光陀螺船体形变测量系统,提出了一种新的基于姿态匹配的形变测量解算方法。该方法不同于以角速度差作为观测量的惯性测量匹配法,而是基于两套激光陀螺系统的姿态信息。确立了新的形变测量滤波观测量,并建立线性量测方程。两套激光陀螺系统直接利用激光陀螺输出的角增量数据相对于惯性空间进行姿态更新,惯性坐标系取为各自初始时刻的载体坐标系,完全回避了系统初始对准问题,且充分利用了激光陀螺角度测量精度高的特点。仿真结果表明,该方法能够有效实现船体形变的高频精确测量,仿真测量精度优于15″,为激光陀螺船体形变测量技术进入工程应用打下了基础。
A new algorithm using attitude matching method is proposed for ship deformation measurement system based on ring laser gyro units （LGUs）. In the new algorithm, the Kalman filter measurements are set up based on the two LGUs＇ real-time attitude information which is different from the inertial measurement matching method. Each of the LGUs systems directly uses the ring laser gyros＇ outputs to update its attitude with respect to the inertial space, and the inertial frame is chosen to be the initial LGU frame, which can avoid the initial alignment problems and make full use of ring laser gyros＇ high angle measurement precision. Simulation results show that high frequency and accurate ship deformation measurement can be effectively realized, and the simulated measurement precision can be higher than 15＂, which lays a sound fundation for actual application of ship deformation measurement based on LGUs.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2010年第2期175-180,共6页
Journal of Chinese Inertial Technology
基金
国家863计划(2006AA09Z208)
关键词
船体形变测量
激光陀螺
卡尔曼滤波
姿态匹配
ship deformation measurement
ring laser gyro
Kalman filtering
attitude matching
