CN109883392A - A kind of inertial navigation heave measurement method based on phase compensation - Google Patents
A kind of inertial navigation heave measurement method based on phase compensation Download PDFInfo
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Abstract
The invention belongs to hull line motion measurement technical fields, and in particular to a kind of inertial navigation heave measurement method based on phase compensation.Gyro and accelerometer data are acquired first, navigation calculation obtains accurate vertical acceleration data, zero bias are filtered out through high-pass filter, the low-frequency disturbances item such as Schuler oscillation, the analysis of CZT frequency spectrum refinement is carried out in heave frequency range to the output signal of high-pass filter, adaptive all-pass filter is designed according to adaptive Phase Compensation Algorithm, phase compensation is carried out to the output signal of high-pass filter, obtain the acceleration signal of not phase error, heave displacement information is obtained after dual-integration, the heave displacement information that the mean value of heave displacement for a long time is zero can be obtained again by high-pass filter and adaptive all-pass filter, this method can subtract for naval vessel swings operation, carrier-borne aircraft lifting, shipborne weapon transmitting and various offshore platform heave compensations provide reference.
Description
Technical field
The invention belongs to hull line motion measurement technical fields, and in particular to a kind of inertial navigation liter based on phase compensation
Heavy measurement method.
Background technique
There is the spatial movement of six degree of freedom in naval vessel, wherein including the axial movement along 3 reference axis in the process of moving
With the rotary motion around 3 reference axis, periodic reverse motion in the motor pattern that 3 are axially moveable, on azimuth axis
(heave) is more even more important than the cross on naval vessel itself, surging, and the influence and harm to naval vessel are maximum.The heave movement fecund of hull is raw
With the collision of stormy waves in driving process, motion frequency is close with the experience frequency of ship and wave, and the period is usually in 5s to 25s
Between, it is attributable to high frequency motion.Heave movement information can be applied to many scenes, such as can subtract for naval vessel and swing operation and provide ginseng
It examines, carrier-borne aircraft lifting, shipborne weapon transmitting and various offshore platform heave compensation systems etc.；
Strap-down inertial navigation system is that heave measures one of common navigation mode, wherein accelerometer can sensitivity arrive
Corresponding axial ratio force information, can calculate the information such as speed, the position under navigational coordinate system in real time after coordinate system is converted,
And precision with higher and data frequency.
Measurement problem is heaved for inertial navigation vertical passage, domestic and foreign scholars have done a lot of research work, for filter
Caused by time delay problem, document " Adaptive tuning of heave filter in motion sensor " propose
Filter with low cut function, and detailed analysis is made to filter characteristic, but be the failure to eliminate phase error,
Output information has leading effect, therefore result is unsatisfactory；Document " Numerical Simulation and Testing
Analysis of Adaptive Heave Motion Measurements " it devises with adaptive cutoff frequency function
High-pass filter, filter parameter is modified according to actual environment investigation, but filter still remains certain phase
Position error；Document " Real-time heave motion estimation using adaptive filtering
Techniques " improve heave filter using optimal design disposition zero pole point and solves phase problem, but that there are filters is steady
Qualitative decline problem；Document " the ship heave measurement based on inertial navigation and without Time-Delay Filter " uses antithesis design method, solves
Phase advanced problem, but this method causes the amplitude-frequency characteristic at low frequency not perfect, low cut is relatively slow and convergence time compared with
It is long
Summary of the invention
The purpose of the present invention is to provide one kind to be able to solve the tradition heave advanced problem of filter output phase, based on certainly
The inertial navigation for adapting to Phase Compensation heaves measurement method.
The object of the present invention is achieved like this:
A kind of inertial navigation heave measurement method based on phase compensation, method includes the following steps:
Step 1: acquisition is mounted on the inertial sensor data of hull center of gravity in real time, obtains navigation by navigation calculation and sits
Vertical acceleration a under mark systemz；
Step 2: vertical acceleration information being handled by digital high-pass filter and obtains the acceleration with the advanced error of phase
Spend information；
Step 3: carrying out the spectrum analysis in heave frequency range to vertical acceleration using CZT frequency spectrum refinement technology；
Step 4: adaptive phase compensation calculating being carried out according to zoom FFT and the phase for needing to compensate, and is designed adaptive
All-pass filter；
Step 5: phase is carried out to the vertical acceleration information with leading phase error by adaptive all-pass filter
Compensation, obtains the correct signal of output phase；
Step 6: dual-integration being carried out to the correct vertical acceleration signal of output phase and obtains heave information；
Step 7: the operation of step 2 and step 5 is carried out to heave displacement signal, it is zero and defeated for obtaining long period mean value
Phase correctly heaves displacement information out.
Digital high-pass filter described in step 2 needs the low frequency signal filtered mainly to have Schuler concussion item and zero bias；Its
The signal period of middle Schuler concussion item isFrequency is about 2 × 10-4Hz；The variation of zero offset error item
Slowly, the period is infinity, and for frequency close to zero, high-pass filter needs the heave movement signal retained, and the period is usually
5s~25s, corresponding heave frequency range is 0.04Hz~0.2Hz, and digital high-pass filter selects three rank high-pass filters, transmits letter
Number is as follows:
In formula, ΩpThe cut-off frequecy of passband of expression system, value 0.004Hz.
CZT frequency spectrum refinement described in step 3 the following steps are included:
Step 3.1: determining the frequency resolution of frequency range locating for signal and requirement；
Step 3.2: the frequency range refined will be needed to project on one section of circular arc of z-plane unit circle, determine the path of CZT,
The mainly position of starting point, terminal and spaced points；
Step 3.3: calculating the CZT on given path；
Step 3.4 realizes frequency spectrum refinement analysis according to the spectrum information of refinement in-band signal.
Number of sampling points is arranged according to required frequency resolution in the step 3.2, and the z-transform of these sampled points indicates are as follows:
In formula, M is the complex frequency spectrum points for needing to analyze, and A and W are any plural number, is typically expressed as Wherein, A0It indicates the vector radius length of starting sample point, indicates that the path CZT is the Duan Yuan on unit circle
Arc；θ0Indicate the phase angle of starting sample point, φ0Indicate phase angular spacing between sample point.
The transmission function of the filter of adaptive phase compensation described in step 4 are as follows:
Wherein, k is adaptation coefficient, and value range is | k | < 1, adaptive phase compensation link utilize all-pass wave filtering
Device realizes the zero-decrement characteristic of all frequency ranges for its mobile phase of a certain frequency point, so that the output of phase compensation filter
There is no phase error between signal and the input signal of high-pass filter, that is, meet at frequency point w:
Wherein,The respectively phase at frequency point w of high-pass filter and all-pass filter, passes through
Above formula finds out adaptation coefficient k, so that cascading filter Hh(jw)·Ha(jw) phase at heave frequency w is zero.
The algorithm of the adaptive phase compensation of step 4 are as follows:
Wherein, n indicates the quantity of frequency component, Ai、ωiIndicate the amplitude and frequency of i-th of frequency component, piIndicate i-th
A frequency component passes through Hh(jw) amplitude error that the phase error after generates, kiIndicate that i-th of frequency component is corresponding adaptive
Parameter.
The beneficial effects of the present invention are:
On the basis of tradition utilizes the heave measurement method of high-pass filter, adaptive phase compensation filter is added, it is right
The output of high-pass filter carries out phase compensation, so that the output signal of cascading filter and original signal do not have phase error,
To reduce heave displacement error；The adaptive Phase Compensation Algorithm based on spectrum analysis is devised, the phase being optimal is mended
Repay effect；The mean value that the output heave displacement in the case where working long hours is enabled a system to using double-smoothing link is zero.
Detailed description of the invention
Fig. 1 is to heave measurement scheme flow chart based on phase compensating method.
Fig. 2 (a) is H1(s) frequency characteristic curve diagram.
Fig. 2 (b) is H2(s) frequency characteristic curve diagram.
Fig. 3 is CZT frequency spectrum refinement algorithm flow chart.
Fig. 4 is the CZT zoom FFT of experimental data.
Fig. 5 is the output comparison diagram before and after phase compensation.
Fig. 6 (a) is the output error curve graph before phase compensation.
Fig. 6 (b) is the output error curve graph after phase compensation.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
The step as shown in Fig. 1 overall plan process:
(1) it is acquired in real time using FPGA and is mounted on inertia device initial data in Strapdown Inertial Navigation System, led through horizontal channel
Boat resolves the horizontal attitude data for obtaining carrier, and projection resolves and obtains carrier in the acceleration information a of vertical passagez, pass through height
Bandpass filter handles heave acceleration, selects three rank high-pass filters, and transmission function is as follows:
In formula, ΩpThe cut-off frequecy of passband of expression system, value 0.004Hz.
H in Fig. 21(s) cutoff frequency is represented as the high-pass filter of 0.002Hz, H2(s) 0.004Hz of cutoff frequency is indicated
High-pass filter.The usual ships afloat heave movement period is 5s to 25s, and corresponding frequency band is 0.04Hz~0.2Hz, by
For figure it can be seen that in amplitude-frequency characteristic, two filters are 1 in the gain of heave frequency range.In phase-frequency characteristic, both have
The advanced error of certain phase, and the error reduces with the increase of frequency input signal, and when frequency is identical, phase is missed
Difference increases with cutoff frequency and is become larger.On low frequency characteristic, the low frequency aberration item corresponding period is 84.4min or more, corresponding frequency
Section is 0~0.0002Hz, and having figure to can be seen that filter has attenuation function to the frequency range, and system cut-off frequency is smaller,
Decay faster.In terms of noise jamming, cutoff frequency is smaller, and the error variance that noise generates is bigger, and the influence to system is also
It is bigger.So selecting cutoff frequency for 0.004Hz herein to reduce the influence of noise and low-frequency disturbance item as far as possible.
(2) spectrum analysis is carried out to vertical acceleration information by CZT frequency spectrum refinement, algorithm flow chart is as shown in Figure 3.
In CZT frequency spectrum refinement process, it is first determined refinement frequency range is heave frequency range, i.e. 0.04Hz~0.2Hz, according to required
Number of sampling points is arranged in frequency resolution, and the z-transform of these sampled points indicates are as follows:
In formula, M is the complex frequency spectrum points for needing to analyze, and A and W are any plural number, is typically expressed as Wherein, A0It indicates the vector radius length of starting sample point, indicates that the path CZT is the Duan Yuan on unit circle
Arc；θ0Indicate the phase angle of starting sample point, φ0Indicate phase angular spacing between sample point.
Known Brustein identity
Nk=1/2 [n2+k2-(n-k)2]
Above formula is updated in the z-transform formula of sampled point, can simplify are as follows:
Wherein
By the above process, CZT frequency spectrum refinement can be summarized as following steps:
A. frequency range and the frequency resolution of requirement locating for signal are determined；
B. the frequency range refined will be needed to project on one section of circular arc of z-plane unit circle, determines the path of CZT, mainly
The position of starting point, terminal and spaced points；
C. the CZT on given path is calculated；
D. according to the spectrum information of refinement in-band signal, frequency spectrum refinement analysis is realized.
(3) according to the result of frequency spectrum refinement it can be concluded that the frequency component in input signal and the amplitude of a component letter
Breath, in order to solve the problems, such as that high-pass filter output phase is advanced, designs adaptive Phase Compensation Algorithm, is calculated according to frequency
Leading phase error, then calculated as spectral magnitude and heave displacement error caused by the frequency component, according to generated heave
Displacement error is weighted optimal design to phase compensation, it may be assumed that
Wherein, p is indicatediI-th of frequency component passes through Hh(jw) the corresponding amplitude error of phase error after.K is after weighting
Obtained adaptive phase compensation parameter.
(4) as shown in Figure 1, the heave acceleration signal a obtained after navigation calculationZIt is right after high-pass filter
Low-frequency disturbance item is decayed, while retaining heave movement frequency band signals, then carries out phase by allpass phase compensating filter
Bit correction, obtains and aZThere is no the heave acceleration signal a of phase errorZ2, to aZ2Carrying out dual-integration can be obtained heave position
Shifting signal h.It since high-pass filter can only decay to low-frequency disturbance item, cannot filter out, therefore be increased in scheme primary completely
Filter link, i.e., again by high-pass filter and all-pass filter, obtain Heaving Signal h', h' can be relative to h
Long period can guarantee that the mean value of heave displacement is zero.
(5) such as the CZT zoom FFT that Fig. 4 is experimental data, as seen from the figure, input signal is the heave fortune for being 10 seconds the period
Dynamic signal；If Fig. 5 is the heave displacement comparison figure before and after phase compensation, as seen from the figure, output signal and ginseng after phase compensation
It examines value to essentially coincide, between the two without phase error.Demonstrate the feasibility of proposed method；It is illustrated in figure 6 phase compensation
Front and back heaves displacement error comparison diagram, shows in figure, and the error amount after phase compensation is relative to there is apparent reduction before compensation.
What needs to be explained here is that other undeclared parts that the present invention provides all are for known in researcher in the art
, title and function according to the present invention, those skilled in that art can obtain it is related record document, therefore do not do into
One step explanation.
Claims (6)
1. a kind of inertial navigation based on phase compensation heaves measurement method, which is characterized in that method includes the following steps:
Step 1: acquisition is mounted on the inertial sensor data of hull center of gravity in real time, obtains navigational coordinate system by navigation calculation
Under vertical acceleration az；
Step 2: vertical acceleration information being handled by digital high-pass filter and obtains having the acceleration of the advanced error of phase to believe
Breath；
Step 3: carrying out the spectrum analysis in heave frequency range to vertical acceleration using CZT frequency spectrum refinement technology；
Step 4: adaptive phase compensation calculating being carried out according to zoom FFT and the phase for needing to compensate, and designs adaptive all-pass
Filter；
Step 5: phase compensation is carried out to the vertical acceleration information with leading phase error by adaptive all-pass filter,
Obtain the correct signal of output phase；
Step 6: dual-integration being carried out to the correct vertical acceleration signal of output phase and obtains heave information；
Step 7: the operation of step 2 and step 5 is carried out to heave displacement signal, obtaining long-time mean value is zero and output phase
Correctly heave displacement information.
2. a kind of inertial navigation based on phase compensation according to claim 1 heaves measurement method, it is characterised in that: step
Digital high-pass filter described in rapid 2 needs the low frequency signal filtered mainly to have Schuler concussion item and zero bias；Wherein Schuler shakes
Signal period beFrequency is 2 × 10-4Hz；The variation of zero offset error item is slow, the period
For infinity, frequency goes to zero, and high-pass filter needs the heave movement signal retained, and the period is 5s~25s, corresponding heave
Frequency range is 0.04Hz~0.2Hz, and digital high-pass filter selects three rank high-pass filters, and transmission function is expressed as following formula:
In formula, ΩpThe cut-off frequecy of passband of expression system, value 0.004Hz.
3. a kind of inertial navigation based on phase compensation according to claim 1 heaves measurement method, it is characterised in that: step
CZT frequency spectrum refinement described in rapid 3 the following steps are included:
Step 3.1: determining the frequency resolution of frequency range locating for signal and requirement；
Step 3.2: the frequency range refined will be needed to project on one section of circular arc of z-plane unit circle, determine the path of CZT, mainly
It is the position of starting point, terminal and spaced points；
Step 3.3: calculating the CZT on given path；
Step 3.4 realizes frequency spectrum refinement analysis according to the spectrum information of refinement in-band signal.
4. a kind of inertial navigation based on phase compensation according to claim 3 heaves measurement method, it is characterised in that: institute
It states step 3.2 and number of sampling points is arranged according to required frequency resolution, the z-transform of these sampled points indicates are as follows:
In formula, M is the complex frequency spectrum points for needing to analyze, and A and W are any plural number, is expressed asIts
In, A0It indicates the vector radius length of starting sample point, indicates that the path CZT is one section of circular arc on unit circle；θ0Indicate that starting is taken out
The phase angle of sampling point, φ0Indicate phase angular spacing between sample point.
5. a kind of inertial navigation based on phase compensation according to claim 1 heaves measurement method, it is characterised in that: step
The transmission function of the filter of adaptive phase compensation described in rapid 4 are as follows:
Wherein, k is adaptation coefficient, and value range is | k | < 1, adaptive phase compensation link utilize all-pass filter pair
All zero-decrement characteristics of frequency range are realized for its mobile phase of a certain frequency point, so that the output signal of phase compensation filter
There is no phase error between the input signal of high-pass filter, that is, meet at frequency point w:
Wherein,The respectively phase at frequency point w of high-pass filter and all-pass filter, is asked by above formula
Adaptation coefficient k out, so that cascading filter Hh(jw)·Ha(jw) phase at heave frequency w is zero.
6. a kind of inertial navigation based on phase compensation according to claim 1 heaves measurement method, it is characterised in that: step
The formula of rapid 4 adaptive phase compensation are as follows:
Wherein, n indicates the quantity of frequency component, Ai、ωiIndicate the amplitude and frequency of i-th of frequency component, piIndicate i-th of frequency
Rate component passes through Hh(jw) amplitude error that the phase error after generates, kiIndicate the corresponding adaptive ginseng of i-th of frequency component
Number.
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| CN110763188A (en) * | 2019-10-15 | 2020-02-07 | 哈尔滨工程大学 | Heave measurement method with rod arm compensation and suitable for strapdown inertial navigation system |
| CN111174974A (en) * | 2020-02-17 | 2020-05-19 | 燕山大学 | Vehicle suspension heave measurement method and system |
| CN112611382A (en) * | 2020-11-27 | 2021-04-06 | 哈尔滨工程大学 | Strapdown inertial navigation system heave measurement method with phase compensation |
| CN112629525A (en) * | 2020-11-13 | 2021-04-09 | 河北汉光重工有限责任公司 | Method for ship heave phase compensation based on historical data cross-correlation |
| CN112629681A (en) * | 2020-12-11 | 2021-04-09 | 上海交通大学 | Real-time adaptive phase compensation method and system for weak measurement technology |
| CN117288188A (en) * | 2023-11-27 | 2023-12-26 | 中国船舶集团有限公司第七〇七研究所 | Wave heave measurement compensation calculation method |
| CN117310247A (en) * | 2023-11-30 | 2023-12-29 | 深圳市鼎阳科技股份有限公司 | Oscilloscope and power supply probe frequency response compensation method thereof |
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| CN110763188A (en) * | 2019-10-15 | 2020-02-07 | 哈尔滨工程大学 | Heave measurement method with rod arm compensation and suitable for strapdown inertial navigation system |
| CN111174974A (en) * | 2020-02-17 | 2020-05-19 | 燕山大学 | Vehicle suspension heave measurement method and system |
| CN111174974B (en) * | 2020-02-17 | 2021-07-30 | 燕山大学 | Vehicle suspension heave measurement method and system |
| CN112629525A (en) * | 2020-11-13 | 2021-04-09 | 河北汉光重工有限责任公司 | Method for ship heave phase compensation based on historical data cross-correlation |
| CN112611382A (en) * | 2020-11-27 | 2021-04-06 | 哈尔滨工程大学 | Strapdown inertial navigation system heave measurement method with phase compensation |
| CN112611382B (en) * | 2020-11-27 | 2022-06-21 | 哈尔滨工程大学 | Strapdown inertial navigation system heave measurement method with phase compensation |
| CN112629681A (en) * | 2020-12-11 | 2021-04-09 | 上海交通大学 | Real-time adaptive phase compensation method and system for weak measurement technology |
| CN112629681B (en) * | 2020-12-11 | 2022-01-11 | 上海交通大学 | Real-time adaptive phase compensation method and system for weak measurement technology |
| CN117288188A (en) * | 2023-11-27 | 2023-12-26 | 中国船舶集团有限公司第七〇七研究所 | Wave heave measurement compensation calculation method |
| CN117288188B (en) * | 2023-11-27 | 2024-03-19 | 中国船舶集团有限公司第七〇七研究所 | Wave heave measurement compensation calculation method |
| CN117310247A (en) * | 2023-11-30 | 2023-12-29 | 深圳市鼎阳科技股份有限公司 | Oscilloscope and power supply probe frequency response compensation method thereof |
| CN117310247B (en) * | 2023-11-30 | 2024-03-01 | 深圳市鼎阳科技股份有限公司 | Oscilloscope and power supply probe frequency response compensation method thereof |
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