CN112629540B - Heave measurement method based on carrier attitude information - Google Patents
Heave measurement method based on carrier attitude information Download PDFInfo
- Publication number
- CN112629540B CN112629540B CN202011488010.6A CN202011488010A CN112629540B CN 112629540 B CN112629540 B CN 112629540B CN 202011488010 A CN202011488010 A CN 202011488010A CN 112629540 B CN112629540 B CN 112629540B
- Authority
- CN
- China
- Prior art keywords
- frequency
- carrier
- information
- roll angle
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000691 measurement method Methods 0.000 title claims abstract description 14
- 230000001133 acceleration Effects 0.000 claims abstract description 34
- 238000001914 filtration Methods 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 238000013461 design Methods 0.000 claims abstract description 12
- 230000010354 integration Effects 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 18
- 238000012546 transfer Methods 0.000 claims description 6
- 230000009466 transformation Effects 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000000737 periodic effect Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 26
- 238000005070 sampling Methods 0.000 description 3
- 238000001228 spectrum Methods 0.000 description 3
- 230000000295 complement effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011045 prefiltration Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000010183 spectrum analysis Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Navigation (AREA)
Abstract
The invention discloses a heave measurement method based on carrier attitude information, which comprises the following steps: periodically acquiring carrier attitude data information; wherein the gesture information includes: roll angle θ, pitch angle γ, and yaw angleAt least one of (a) and (b); obtaining the frequency and amplitude information of the carrier along with wave fluctuation according to the attitude information; performing filter design according to the frequency and amplitude information; wherein the filter comprises a passband cut-off frequency f p Stop band cut-off frequency f s Passband attenuation A p Attenuation of stop band A s Cut-off frequency omega c Filter parameters such as filter order N; the inertial navigation system obtains the actual vertical acceleration information of the carrier, and the heave motion information of the carrier is obtained through three times of filtering and twice integration. According to the invention, the self-adaptive design of the filter for carrying out heave measurement based on the attitude information is realized, and the accuracy of carrier heave motion measurement is improved.
Description
Technical Field
The invention belongs to the technical field of measurement, and particularly relates to a heave measurement method based on carrier attitude information.
Background
The surface ships and underwater vehicles can generate heave motions along with wave fluctuation during the task execution, however, the heave motions can seriously affect the operation efficiency and the safety of the carriers. Thus offshore vessels and work platforms often require heave compensation systems to eliminate the effects of heave motions. At present, a GPS and an inertial navigation system are generally used for combination to realize the vertical positioning of a water surface operation carrier, but the measurement precision is only m levels. In addition, the inertial navigation system can realize all-weather, all-region and all-direction autonomous navigation by virtue of the passive characteristic, but the inertial navigation system has the problem that errors are accumulated and dispersed along with time, particularly the inertial navigation system is vertical, and long-time navigation cannot be performed. When the sea surface environment is bad or underwater tasks are executed, GPS signals cannot be received, and heave information of the water surface ship and the underwater carrier is distorted. To solve this problem, kalman filtering is used to reduce the measurement error of vertical heave, but the following complement exists with kalman filtering: 1) The system needs to be accurately modeled, and the error sources are more and difficult to realize; 2) The workload of the filtering parameter debugging is very large; 3) The measurement accuracy is difficult to improve.
Disclosure of Invention
The technical solution of the invention is as follows: the method for measuring the heave based on the carrier attitude information aims to realize high-precision measurement of the carrier vertical heave information when external vertical auxiliary measurement information is not relied on.
In order to solve the technical problems, the invention discloses a heave measurement method based on carrier attitude information, which comprises the following steps:
periodically acquiring carrier attitude information; wherein the carrier posture information includes: roll angle θ, pitch angle γ, and yaw angleAt least one of (a) and (b);
obtaining the frequency and amplitude information of the carrier along with wave fluctuation according to the attitude information;
performing filter design according to the frequency and amplitude information; wherein the filter parameters of the filter comprise a passband cut-off frequency f p Stop band cut-off frequency f s Passband attenuation A p Attenuation of stop band A s Cut-off frequency omega c Filtering order N;
and the vertical acceleration information of the carrier determined by the inertial navigation system is filtered three times and integrated twice to obtain and output the heave motion information of the carrier.
In the heave measurement method based on the carrier posture information, the carrier posture information is obtained according to the regular period; wherein, "periodically" means acquiring new attitude information within a certain time range; the carrier posture information includes: roll angle θ, pitch angle γ, and yaw angleIncluding externally measured direct given pose information or pose information determined by a navigation system.
In the heave measurement method based on the carrier attitude information, the method for obtaining the frequency and the amplitude of carrier fluctuation along with sea waves according to the carrier attitude information comprises the following steps:
amplitude and frequency corresponding to a main resonance peak within 1Hz of the roll angle theta; and/or the number of the groups of groups,
amplitude and frequency corresponding to a main resonance peak within 1Hz of the pitch angle gamma; and/or the number of the groups of groups,
bow rocking angleAmplitude and frequency corresponding to main resonance peaks within 1 Hz.
Roll angle θ, pitch angle γ, yaw angleThe frequency corresponding to the main resonance peak within 1Hz is the wave fluctuation frequency; roll angle θ, pitch angle γ, yaw angle +.>The amplitude corresponding to the main resonance peak within 1Hz is the amplitude of the wave fluctuation affecting the change of each attitude angle.
In the heave measurement method based on the carrier attitude information, a filter is designed according to the frequency and amplitude information; wherein the filter parameters of the filter comprise a passband cut-off frequency f p Stop band cut-off frequency f s Attenuation of passbandMinus A p Attenuation of stop band A s Cut-off frequency omega c A filtering order N comprising:
step 1, a roll angle theta, a pitch angle gamma and a bow roll angle are adoptedThe amplitude of the main resonance peak corresponding to the minimum frequency within 1Hz of (2) determines the passband cut-off frequency impact factor according to the following equation:
wherein A is ep 、A np 、A up Respectively a roll angle theta, a pitch angle gamma and a bow roll angleThe amplitude corresponding to the main resonance peak with the smallest resonance frequency within 1 Hz. K (K) ep 、K np 、K up Roll angle θ, pitch angle γ and bow angle +.>A passband cut-off frequency influencing factor of (2);
step 2, calculating the passband cut-off frequency according to the following formula:
f p ＝K ep f ep +K np f np +K up f up
wherein f ep 、f np 、f up Respectively a roll angle theta, a pitch angle gamma and a bow roll angleA minimum frequency corresponding to a main resonance peak within 1 Hz.
Step 3, the roll angle theta, the pitch angle gamma and the bow roll angle are calculatedThe amplitude corresponding to the resonance main peak of the maximum frequency within 1Hz of the band is determined according to the following formulaCutoff frequency influencing factor:
wherein A is es 、A ns 、A us Respectively a roll angle theta, a pitch angle gamma and a bow roll angleThe amplitude corresponding to the main resonance peak with the largest resonance frequency within 1 Hz. K (K) es 、K ns 、K us Roll angle θ, pitch angle γ and bow angle +.>A stop band cut-off frequency influencing factor of (2);
and 4, calculating the stop band cut-off frequency according to the following formula:
f s ＝K es f es +K ns f ns +K us f us
wherein f es 、f ns 、f us Respectively a roll angle theta, a pitch angle gamma and a bow roll angleMaximum frequency corresponding to main resonance peak within 1 Hz;
step 5, setting pass band attenuation A p Attenuation of stop band A s ；
Step 6, designing a Butterworth low-pass filter, and determining the filter order N and the cut-off frequency omega of the filter according to the following formula c
Where f is the sampling frequency.
Step 7, according to the filter order N and the cut-off frequency omega c Determination of Butterworth low pass filter transfer function H l (s)；
Step 8, performing bilinear Z transformation on the filter to obtain a transfer function H l (z)；
Step 9, determining a high-pass filter H according to the following h (z):
H h (z)＝1-H l (z)
In the above heave measurement method based on carrier attitude information, according to the carrier vertical acceleration information to be determined by the inertial navigation system, heave motion information of the carrier is obtained and output through three times of filtering and twice integration, including:
step 1, obtaining vertical acceleration information according to the following formula,
wherein f u In order for the vertical acceleration to be a vertical acceleration,for the attitude transformation matrix from the carrier system to the navigation system, f b Specific force information measured for three axial accelerometers of the carrier, < >>G is harmful acceleration caused by earth rotation and Goldrake acceleration n Is the gravitational acceleration under the local navigation system;
step 2, according to H h (z) determining a constant coefficient linear differential equation:
wherein x (n) is a pre-filter signal, y (n) is a post-filter signal, b m Is H h (z) System array of molecules, a k Is H h (z) a system array of denominators;
step 3, for vertical acceleration f u Filtering according to a difference equation y (n) to obtain f ul ；
Step 4, for the filtered acceleration f ul Integrating to obtain the speed V u ；
Step 5, for velocity V u Filtering according to a difference equation y (n) to obtain V ul ；
Step 6, for the filtered velocity V ul Integrating to obtain the heave height H u ；
Step 7, for heave height H u Filtering according to a difference equation y (n) to obtain H ul ；
Step 8, outputting heave information H ul 。
The invention has the following advantages:
(1) According to the invention, the carrier attitude information is subjected to frequency spectrum analysis regularly, so that the characteristic of the carrier along with wave fluctuation can be obtained in real time, and the adaptive optimization design of the filter is realized by combining the influence factors.
(2) The invention does not depend on external measurement modes such as GPS and the like, realizes the measurement of the carrier heave motion only through carrier attitude angle information, and improves the measurement precision and the measurement reliability of the carrier heave measurement under the condition of no GPS signal compared with the measurement mode combining GPS and inertial navigation.
(3) The existing Kalman filtering algorithm needs to accurately model the system, the accuracy of the model restricts the measurement accuracy, the method does not depend on the model of the system, and the high-accuracy measurement of carrier heave is realized by only analyzing carrier attitude information to carry out filter design.
(4) The existing Kalman filtering algorithm has longer filtering period, large occupation of system operation resources, and the method has high operation speed, small occupation of resources and wide applicability.
Drawings
FIG. 1 is a flow chart of steps of a heave measurement method based on attitude information of a carrier according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a carrier heave measurement in an embodiment of the invention;
FIG. 3 is a schematic diagram of an east channel error correction in accordance with an embodiment of the present invention;
FIG. 4 is a graph showing the results of wave fluctuation characteristics based on roll angle analysis in an embodiment of the present invention;
FIG. 5 is a graph showing the results of wave motion characteristics based on pitch angle analysis in an embodiment of the present invention;
FIG. 6 is a graph showing wave fluctuation characteristics based on a yaw angle analysis in an embodiment of the present invention;
fig. 7 is a schematic representation of heave measurements made according to the method according to an embodiment of the invention.
Detailed Description
One of the core ideas of the invention is as follows: the characteristic of the carrier wave fluctuation along with the sea wave is determined by analyzing the frequency spectrum characteristic of the carrier attitude information. And (5) adaptively adjusting parameters of the filter according to the fluctuation characteristics to realize filter design. The carrier vertical acceleration information is obtained through the principle of an inertial navigation system, and then the carrier heave motion information is obtained after 3 times of filtering and 2 times of integration.
The invention is described in further detail below with reference to the attached drawing figures and specific examples:
referring to fig. 1, a flow chart of steps of a heave measurement method based on carrier attitude information in an embodiment of the invention is shown. In this embodiment, the heave measurement method for carrier attitude information includes:
and step 101, periodically acquiring carrier posture information.
In this embodiment, periodically acquiring the carrier posture data information refers to acquiring posture information close to the reality of the carrier by the carrier navigation system or other posture measurement device in a set period, where the posture information includes, but is not limited to: roll angle θ, pitch angle γ, and yaw angleAt least one of them.
And 102, obtaining the frequency and amplitude information of the carrier along with wave fluctuation according to the attitude information, and designing a filter.
In this embodiment, the frequency and amplitude of the carrier wave fluctuation with the sea wave are obtained by analyzing the frequency characteristic of the attitude information of the carrier, wherein the wave characteristic of the sea wave can be characterized by:
1) Amplitude and frequency corresponding to a main resonance peak within 1Hz of the roll angle theta; and/or the number of the groups of groups,
2) Amplitude and frequency corresponding to a main resonance peak within 1Hz of the pitch angle gamma; and/or the number of the groups of groups,
3) Bow rocking angleAmplitude and frequency corresponding to main resonance peaks within 1 Hz.
Roll angle θ, pitch angle γ, yaw angleThe frequency corresponding to the main resonance peak within 1Hz is the wave fluctuation frequency; roll angle θ, pitch angle γ, yaw angle +.>The amplitude corresponding to the main resonance peak within 1Hz is the amplitude of the wave fluctuation affecting the change of each attitude angle.
In this embodiment, the filter is a complementary Butterworth filter, and the filter parameters include passband cut-off frequency f p Stop band cut-off frequency f s Passband attenuation A p Attenuation of stop band A s Cut-off frequency omega c Filtering order N. The wave fluctuation characteristic is used for determining filtering parameters to realize filter design, and the specific implementation steps are as follows:
step 1, a roll angle theta, a pitch angle gamma and a bow roll angle are adoptedThe amplitude of the main resonance peak corresponding to the minimum frequency within 1Hz of (2) determines the passband cut-off frequency impact factor according to the following equation:
wherein A is ep 、A np 、A up Respectively a roll angle theta, a pitch angle gamma and a bow roll angleThe amplitude corresponding to the main resonance peak with the smallest resonance frequency within 1 Hz. K (K) ep 、K np 、K up Roll angle θ, pitch angle γ and bow angle +.>The passband cut-off frequency influencing factor of (2).
The filter design is described in detail with one specific example for ease of understanding.
Taking a ship a using a strapdown inertial navigation system as an example.
In the test, the ship A is moored at a wharf, and the ship body moves in a heave manner along with wave fluctuation. Referring to fig. 2, 3 and 4, the roll angle θ, pitch angle γ and yaw angle of the ship a during a certain period of time are respectivelyIs a frequency spectrum characteristic of (a). Referring to Table 1, the characteristic of the ship A attitude angle is within 1Hz
TABLE 1
Referring to Table 1, roll angle θ, pitch angle γ, and yaw angleThe amplitude of the resonance main peak corresponding to the minimum frequency within 1Hz is A ep ＝0.036dB/Hz、A np ＝0.00174dB/Hz、A up = 11.708dB/Hz. Obtaining a roll angle theta, a pitch angle gamma and a bow angle according to the above>The passband cut-off frequency influencing factors of (2) are respectively K ep ＝0.00306、K np ＝0.00015、K up ＝0.99679。
Step 2, calculating the passband cut-off frequency according to the following formula:
f p ＝K ep f ep +K np f np +K up f up
wherein f ep 、f np 、f up Respectively a roll angle theta, a pitch angle gamma and a bow roll angleA minimum frequency corresponding to a main resonance peak within 1 Hz.
Referring to Table 1, f can be obtained ep ＝0.057Hz、f np ＝0.076Hz、f up =0.059 Hz, f is known from the above p ＝0.058996Hz；
Step 3, the roll angle theta, the pitch angle gamma and the bow roll angle are calculatedThe amplitude corresponding to the main resonance peak of the maximum frequency within 1Hz of (2) determines the stop band cut-off frequency influence factor according to the following formula:
wherein A is es 、A ns 、A us Respectively a roll angle theta, a pitch angle gamma and a bow roll angleThe amplitude corresponding to the main resonance peak with the largest resonance frequency within 1 Hz. K (K) es 、K ns 、K us Roll angle θ, pitch angle γ and bow angle +.>Is a stop band cut-off frequency influencing factor of (c).
Referring to Table 1, roll angle θ, pitch angle γ, and yaw angleThe amplitude corresponding to the resonance main peak of the maximum frequency within 1Hz is A respectively es ＝0.02dB/Hz、A ns ＝0.004dB/Hz、A us ＝0.15dB/Hz。
Obtaining a roll angle theta, a pitch angle gamma and a bow angle according to the aboveThe stop band cut-off frequency influencing factors of (2) are respectively K es ＝0.1149、K ns ＝0.02299、K us ＝0.86211。
And 4, calculating the stop band cut-off frequency according to the following formula:
f s ＝K es f es +K ns f ns +K us f us
wherein f es 、f ns 、f us Respectively a roll angle theta, a pitch angle gamma and a bow roll angleA maximum frequency corresponding to a main resonance peak within 1 Hz.
Referring to Table 1, f can be obtained es ＝0.46452Hz、f ns ＝0.46424Hz、f us = 0.46673Hz, f is known from the above s ＝0.4663Hz；
Step 5, setting pass band attenuation A p Attenuation of stop band A s The method comprises the steps of carrying out a first treatment on the surface of the Setting passband attenuation A in this particular example p =3, stop band attenuation a s ＝20。
Step 6, designing a Butterworth low-pass filter, and determining the filter order N and the cut-off frequency omega of the filter according to the following formula c
Where f is the sampling frequency.
According to this specific example, the sampling frequency f=200 Hz, n=2, ω is calculated as above c ＝0.0093Hz；
Step 7, according to the filter order N and the cut-off frequency omega c Determination of Butterworth low pass filter transfer function H l (s)。
According to this specific example of the present invention,
step 8, performing bilinear Z transformation on the filter to obtain a transfer function H l (z)。
According to this specific example of the present invention,
step 9, determining a high-pass filter H according to the following h (z):
H h (z)＝1-H l (z)
According to this specific example of the present invention,
and step 103, the heave motion information of the carrier is obtained and output through three times of filtering and twice integration on the vertical acceleration information of the carrier.
Referring to fig. 5, a flowchart of the steps for obtaining and outputting heave motion information of a carrier by three times of filtering and twice integrating the carrier vertical acceleration information in the embodiment of the invention is shown.
In this embodiment, the specific implementation steps are as follows:
step 1, obtaining vertical acceleration information according to an inertial navigation speed error equation, wherein the vertical acceleration information is shown in the following formula:
wherein f e For east acceleration, f n For the north acceleration, f u In order for the vertical acceleration to be a vertical acceleration,for the attitude transformation matrix from the carrier system to the navigation system, f b Specific force information measured for three axial accelerometers of the carrier, < >>Is a detrimental acceleration caused by earth rotation and Goldrake acceleration, wherein +.>For the projected angular velocity of the earth relative to the inertial system in the navigation system,/->For the projected angular velocity of the carrier in the navigation system relative to the earth system, V en For carrier speed g n Is the gravitational acceleration under the local navigation system;
step 2, according to H h (z) determining a constant coefficient linear differential equation
Wherein x (n) is a pre-filter signal, y (n) is a post-filter signal, b m Is H h (z) System array of molecules, a k Is H h (z) a system array of denominators.
According to this specific example, the linear differential equation
y(n)＝1.999934321y(n-1)-0.999934324y(n-2)+0.9999999995x(n)-1.9999343228x(n-1)+0.999934323x(n-2)；
Step 3, for vertical acceleration f u Filtering according to a difference equation y (n) to obtain f ul ；
Step 4, for the filtered acceleration f ul Integrating to obtain the speed V u ；
Step 5, for velocity V u Filtering according to a difference equation y (n) to obtainV ul ；
Step 6, for the filtered velocity V ul Integrating to obtain the heave height H u ；
Step 7, for heave height H u Filtering according to a difference equation y (n) to obtain H ul ；
Step 8, outputting heave information H ul 。
In the invention, heave information is obtained by preferably filtering twice for three times, and if the filtering times are twice, the filtering in the step 3 is omitted, and the integration is directly carried out to obtain the speed.
According to a specific example, heave measurements were obtained using the method of the invention fig. 6. In the absence of auxiliary measuring devices such as GPS, the inventive method was not used to obtain heave measurements fig. 7. As is evident from a comparison of fig. 6 with fig. 7, the heave change of the carrier can be measured accurately using the method according to the invention.
In summary, according to the heave measurement method based on the carrier attitude information provided by the embodiment of the invention, the wave fluctuation characteristic is determined by periodically analyzing the carrier attitude angle spectrum characteristic, so as to determine the filtering parameter, and finally, the accurate measurement of the carrier heave is realized. Compared with the existing integrated navigation system, the integrated navigation system does not depend on external heave measurement devices such as GPS and the like, and has higher measurement reliability; compared with the existing Kalman filtering algorithm, the method does not depend on the modeling precision of the system, improves the measurement precision, has small occupation of system operation resources and high operation speed, and has wide applicability. In addition, after the wave fluctuation characteristic changes, the invention can automatically adjust the parameters of the filter, thereby improving the measurement precision and reliability.
The foregoing is merely illustrative of the best embodiments of the present invention, and the present invention is not limited thereto, but any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be construed as falling within the scope of the present invention.
What is not described in detail in the present specification belongs to the known technology of those skilled in the art.
Claims (8)
1. A heave measurement method based on carrier attitude information, comprising:
periodically acquiring carrier attitude information; wherein the carrier posture information includes: roll angle θ, pitch angle γ, and yaw angleAt least one of (a) and (b);
obtaining the frequency and amplitude information of the carrier along with wave fluctuation according to the attitude information; the frequency and amplitude information of the carrier wave along with the sea wave comprises the following steps: amplitude and frequency corresponding to a main resonance peak within 1Hz of the roll angle theta; and/or amplitude and frequency corresponding to a main resonance peak within 1Hz of the pitch angle γ; and/or, a bow angleAmplitude and frequency corresponding to a main resonance peak within 1 Hz;
performing filter design according to the frequency and amplitude information;
according to the vertical acceleration information of the carrier, the heave motion information of the carrier is obtained through at least twice filtering and twice integration;
performing filter design according to the frequency and amplitude information; wherein the filter parameters of the filter comprise a passband cut-off frequency f p Stop band cut-off frequency f s Passband attenuation A p Attenuation of stop band A s Cut-off frequency omega c The design steps of the filtering order N are as follows:
step 1, according to the roll angle theta, the pitch angle gamma and the bow roll angle respectivelyThe amplitude corresponding to the resonance main peak of the minimum frequency and the maximum frequency within 1Hz of (2) is used for determining the roll angle theta, the pitch angle gamma and the bow angle +.>A passband cutoff frequency impact factor and a stopband cutoff frequency impact factor;
roll angle θ, pitch angle γ, and yaw angleThe passband cutoff frequency influence factor of (2) is calculated as follows:
wherein A is ep 、A np 、A up Respectively a roll angle theta, a pitch angle gamma and a bow roll angleAmplitude corresponding to the resonance main peak with the minimum resonance frequency within 1 Hz; k (K) ep 、K np 、K up Roll angle θ, pitch angle γ and bow angle +.>A passband cut-off frequency influencing factor of (2);
step 2, calculating the passband cutoff frequency f by using the passband cutoff frequency influence factor and the stopband cutoff frequency influence factor p And stop band cut-off frequency f s ；
Step 3, setting pass band attenuation A p Attenuation of stop band A s ；
Step 4, carrying out Butterworth low-pass filter design, and determining the filter order N and the cut-off frequency omega of the filter c ；
Step 5, according to the filter order N and the cut-off frequency omega c Determination of Butterworth low pass filter transfer function H l (s)；
Step 6, performing bilinear Z transformation on the filter to obtain a transfer function H l (z)；
Step 7, determining a high-pass filter H according to the following h (z):H h (z)＝1-H l (z)。
2. The method of claim 1, wherein the carrier pose information is obtained periodically; the method comprises the steps that the periodic instruction obtains new attitude information within a preset certain time range; including the pose information directly given by the external survey or the pose information determined by the navigation system.
3. The method according to claim 1, wherein the passband cut-off frequency f p The calculation formula is as follows:
f p ＝K ep f ep +K np f np +K up f up
wherein f ep 、f np 、f up Respectively a roll angle theta, a pitch angle gamma and a bow roll angleA minimum frequency corresponding to a main resonance peak within 1 Hz.
4. The method of claim 1, wherein the roll angle θ, the pitch γ, and the bow areThe calculation formula of the stop band cut-off frequency influence factor of (2) is as follows:
wherein A is es 、A ns 、A us Respectively a roll angle theta, a pitch angle gamma and a bow roll angleAmplitude corresponding to the resonance main peak with the largest resonance frequency within 1 Hz; k (K) es 、K ns 、K us Roll angle θ, pitch angle γ and bow angle +.>Is a stop band cut-off frequency influencing factor of (c).
5. The method of claim 1 or 4, wherein the stop band cut-off frequency f is calculated according to the following formula s ：
f s ＝K es f es +K ns f ns +K us f us
Wherein f es 、f ns 、f us Respectively a roll angle theta, a pitch angle gamma and a bow roll angleA maximum frequency corresponding to a main resonance peak within 1 Hz.
6. The method according to claim 1, characterized in that heave motion information of the carrier is obtained by three filtering and two integration.
7. The method according to claim 6, wherein heave motion information of the carrier is obtained by:
step 1, according to the designed high-pass filter H h (z) determining a constant coefficient linear differential equation;
step 3, for vertical acceleration f u Filtering according to a difference equation y (n) to obtain acceleration f ul ；
Step 4, for the filtered acceleration f ul Integrating to obtain the speed V u ；
Step 5, for velocity V u Filtering according to a difference equation y (n) to obtain V ul ；
Step 6, for the filtered velocity V ul Integrating to obtain the heave height H u ；
Step 7, for heave height H u Filtering according to a difference equation y (n) to obtain heave information H ul 。
8. The method according to claim 1 or 7, wherein the vertical acceleration information is obtained according to the following formula,
wherein fu is the vertical acceleration,for the attitude transformation matrix from the carrier system to the navigation system, f b Specific force information measured for three axial accelerometers of the carrier, < >>G is harmful acceleration caused by earth rotation and Goldrake acceleration n Is the gravitational acceleration under the local navigation system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011488010.6A CN112629540B (en) | 2020-12-16 | 2020-12-16 | Heave measurement method based on carrier attitude information |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011488010.6A CN112629540B (en) | 2020-12-16 | 2020-12-16 | Heave measurement method based on carrier attitude information |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112629540A CN112629540A (en) | 2021-04-09 |
| CN112629540B true CN112629540B (en) | 2024-02-09 |
Family
ID=75313800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011488010.6A Active CN112629540B (en) | 2020-12-16 | 2020-12-16 | Heave measurement method based on carrier attitude information |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112629540B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114459414B (en) * | 2021-12-23 | 2023-12-19 | 宜昌测试技术研究所 | Depth detection method for semi-submersible vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5157623A (en) * | 1989-12-30 | 1992-10-20 | Casio Computer Co., Ltd. | Digital filter with dynamically variable filter characteristics |
| CN101694390A (en) * | 2009-10-20 | 2010-04-14 | 哈尔滨工程大学 | Ship heave movement measurement method based on optical fiber inertia measurement system |
| CN103674059A (en) * | 2013-11-11 | 2014-03-26 | 北京航天控制仪器研究所 | External measured speed information-based horizontal attitude error correction method for SINS (serial inertial navigation system) |
| CN106643728A (en) * | 2016-12-16 | 2017-05-10 | 哈尔滨工程大学 | Ship heaving motion information estimation method based on self-adaptive frequency estimation |
| CN109425339A (en) * | 2017-08-21 | 2019-03-05 | 哈尔滨工程大学 | A kind of ship heave error compensating method based on the considerations of inertial technology lever arm effect |
| CN110319838A (en) * | 2019-07-09 | 2019-10-11 | 哈尔滨工程大学 | A kind of adaptive athletic posture frame of reference heave measurement method |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2092402B1 (en) * | 2006-12-06 | 2015-08-05 | National Oilwell Varco, L.P. | Method and apparatus for active heave compensation |
-
2020
- 2020-12-16 CN CN202011488010.6A patent/CN112629540B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5157623A (en) * | 1989-12-30 | 1992-10-20 | Casio Computer Co., Ltd. | Digital filter with dynamically variable filter characteristics |
| CN101694390A (en) * | 2009-10-20 | 2010-04-14 | 哈尔滨工程大学 | Ship heave movement measurement method based on optical fiber inertia measurement system |
| CN103674059A (en) * | 2013-11-11 | 2014-03-26 | 北京航天控制仪器研究所 | External measured speed information-based horizontal attitude error correction method for SINS (serial inertial navigation system) |
| CN106643728A (en) * | 2016-12-16 | 2017-05-10 | 哈尔滨工程大学 | Ship heaving motion information estimation method based on self-adaptive frequency estimation |
| CN109425339A (en) * | 2017-08-21 | 2019-03-05 | 哈尔滨工程大学 | A kind of ship heave error compensating method based on the considerations of inertial technology lever arm effect |
| CN110319838A (en) * | 2019-07-09 | 2019-10-11 | 哈尔滨工程大学 | A kind of adaptive athletic posture frame of reference heave measurement method |
| 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 |
Non-Patent Citations (3)
| Title |
|---|
| 严恭敏 ; 苏幸君 ; 翁浚 ; 秦永元 ; .基于惯导和无时延滤波器的舰船升沉测量.导航定位学报.2016,(第02期),第91-93、107页. * |
| 刘锡祥 ."一种基于惯性测量与自适应滤波的舰船升沉计算方法".《中国惯性技术学报》.2019,第27卷(第1期),第1-7页. * |
| 陈琦 等."用于船舶升沉运动估算的自适应数字滤波器.《中国惯性技术学报》.2018,第26卷(第4期),第421-427页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112629540A (en) | 2021-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110031882B (en) | External measurement information compensation method based on SINS/DVL integrated navigation system | |
| CN111323050B (en) | Strapdown inertial navigation and Doppler combined system calibration method | |
| RU2348903C1 (en) | Method of determination of navigating parameters by gimballess inertial navigating system | |
| CN104698485B (en) | Integrated navigation system and air navigation aid based on BD, GPS and MEMS | |
| CN109425339B (en) | Ship heave error compensation method considering lever arm effect based on inertia technology | |
| CN106052682B (en) | A kind of hybrid inertial navigation system and air navigation aid | |
| CN103245360A (en) | Autocollimation method of carrier aircraft rotating type strapdown inertial navigation system under shaking base | |
| RU2380656C1 (en) | Integrated strapdown inertial and satellite navigation system on coarse sensors | |
| CN103090884B (en) | SINS (Strapdown Inertial Navigation System)-based method for restraining velocity measuring error of DVL (Doppler Velocity Log) | |
| CN110567454A (en) | SINS/DVL tightly-combined navigation method in complex environment | |
| CN103076026B (en) | A kind of method determining Doppler log range rate error in SINS | |
| CN102768043B (en) | Integrated attitude determination method without external observed quantity for modulated strapdown system | |
| CN109269526B (en) | Rotary grid inertial navigation horizontal damping method based on damping network | |
| CN105928515B (en) | A kind of UAV Navigation System | |
| CN107101631A (en) | A kind of ship heave measuring method based on auto-adaptive filtering technique | |
| WO2022222939A1 (en) | Strapdown inertial navigation heave measurement method using multiple low-pass filtering units | |
| CN112629540B (en) | Heave measurement method based on carrier attitude information | |
| RU2382988C1 (en) | Strapdown inertial reference system on "coarse" detecting elements | |
| CN106885587A (en) | The lower outer lever arm effect errors compensation method of inertia/GPS integrated navigations of rotor disturbance | |
| CN115096302A (en) | Strapdown inertial base navigation system information filtering robust alignment method, system and terminal | |
| CN112611382B (en) | Strapdown inertial navigation system heave measurement method with phase compensation | |
| CN105928519B (en) | Navigation algorithm based on INS inertial navigation and GPS navigation and magnetometer | |
| US20220326019A1 (en) | Strapdown Inertial Navigation Heave Measurement Method Using Multiple Low-Pass Filter Units | |
| CN111829511A (en) | AUV (autonomous Underwater vehicle) integrated navigation method and system based on M estimation | |
| CN115950423A (en) | Ship heave motion measurement method based on adaptive filtering |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |