CN117928528A - Ship heave measurement method based on self-adaptive time-delay-free complementary band-pass filter - Google Patents
Ship heave measurement method based on self-adaptive time-delay-free complementary band-pass filter Download PDFInfo
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- 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
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- 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
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- 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
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Abstract
The invention discloses a ship heave measurement method based on a self-adaptive time-delay-free complementary band-pass filter, which belongs to the technical field of inertial navigation measurement and is used for ship heave measurement, and comprises the steps of obtaining a power spectrum density flattening value and a frequency corresponding to the power spectrum density flattening value according to a statistical method and a nearest neighbor method so as to obtain a stop band bandwidth; calculating according to the center cut-off frequency and the stop band bandwidth to obtain a lower limit cut-off frequency and an upper limit cut-off frequency, and taking the low-pass filter as a medium to obtain a transfer function of the band-stop filter; according to the complementary principle, a transfer function of a non-delay complementary band-pass filter is obtained, and further, the heave acceleration is filtered and integrated twice to obtain the heave amount of the ship. The method provided by the invention can not only effectively reduce the dependence on priori knowledge or experience values and peak detection range setting, but also realize the filter design by adaptively acquiring the filter parameters, and remarkably reduce the influence of delay errors, thereby realizing high-precision measurement of ship heave motion.
Description
Technical Field
The invention discloses a ship heave measurement method based on a self-adaptive time-delay-free complementary band-pass filter, and belongs to the technical field of inertial navigation measurement.
Background
The existing inertial navigation-based heave measurement method is mainly divided into two types, wherein the first type is an inertial navigation-based combined measurement method, such as combined measurement of heave by using inertial navigation and satellite, although high-precision 3-dimensional positioning of the ship is easy to realize, and m-level absolute positioning precision can be achieved; but short-term relative measurement accuracy on the order of cm is often required in heave applications, which is difficult to achieve with conventional integrated navigation methods. Therefore, the ship heave motion measurement also mainly depends on inertial navigation, and the second type of method is inertial measurement and a digital filter, wherein the method utilizes the comprehensive acceleration output of the inertial navigation in the heave direction, and the heave motion is measured through integration and filtering by means of the digital filter. However, the parameter acquisition of the conventional filter is often obtained by means of priori knowledge or empirical values, and the same filter parameters are adopted in the whole period, so that the conventional filter is not suitable for the situation of different sea conditions, and the conventional filter has the influence of time delay errors.
Disclosure of Invention
The invention aims to provide a ship heave measurement method based on a self-adaptive time-delay-free complementary band-pass filter, so as to solve the problem of low ship heave measurement precision in the prior art.
A ship heave measurement method based on a self-adaptive time-delay-free complementary band-pass filter comprises the following steps:
S1, mechanically arranging according to a strapdown inertial navigation system to obtain roll angle, pitch angle and course angle information, and constructing a direction cosine matrix converted from a carrier coordinate system b system to a navigation coordinate system n system Vertical acceleration information output by strapdown inertial navigation system/>And local gravitational acceleration/>Obtaining heave acceleration/>, of a vessel；
S2, carrying out power spectral density analysis on heave acceleration in different windows by adopting a sliding window, and obtaining the stop band center cut-off frequency by using a maximum value detection methodObtaining a value of which the power spectral density tends to be flat and the corresponding frequency according to two methods of statistical analysis and nearest neighbor so as to obtain the stop band bandwidth/>；
S3 according toAnd/>Calculating to obtain the lower limit cut-off angle frequency/>, of the band-stop filterAnd upper cutoff frequency/>Taking the low-pass filter as a medium to obtain a transfer function of the band-stop filter;
and S4, according to the transfer function of the band-stop filter, obtaining a transfer function of a time delay-free complementary band-pass filter based on complementarity, and filtering and twice integrating the ship heave acceleration to obtain a ship heave motion value.
S1 includes the group consisting of,The method comprises the following steps:
；
；/>；
；
In the method, in the process of the invention, Heading angle, roll angle and pitch angle respectively,/>For vertical acceleration in navigational coordinate system,/>Representing the local latitude.
S2 comprises that the length of the heave acceleration data isSliding window length is/>Number of windows/>The method comprises the following steps:
；
If it is For integers, heave acceleration data is divided into/>Windows, carrying out power spectrum density analysis on the window data;
If it is For floating point number or decimal, performing power spectral density analysis on window data of integer part, and performing power spectral density analysis on/>Obtaining window number/>, by rounding downThe method comprises the following steps:
；
In the method, in the process of the invention, The method comprises the steps of representing downward rounding, and taking the rounded data of the insufficient integer as a window to perform power spectrum density analysis.
The power spectral density analysis is that of random signalsIs the autocorrelation function/>The method comprises the following steps:
；
In the method, in the process of the invention, For time delay,/>For observing time,/>For the current time,/>For subtracting the time delayed random signal;
fourier transforming the two sides of the autocorrelation function to obtain the power spectral density of the signal ：
；
In the method, in the process of the invention,Representing the sampling frequency,/>Representing a complex number of units.
Obtaining stop band center cut-off frequency using maximum detection methodThe method comprises the steps of carrying out power spectrum density analysis according to ship heave acceleration in different windows, and obtaining frequency/>, corresponding to the maximum value, through maximum value detectionWill/>Center cut-off frequency/>, as a band stop filter：
；
Obtaining a value of which the power spectral density tends to be flat and the corresponding frequency according to two methods of statistical analysis and nearest neighbor so as to obtain the stop band bandwidthThe method comprises obtaining average value of power spectral density value range corresponding to maximum signal count by histogram statistics, and obtaining frequency/>, closest to center cut-off frequency, corresponding to power spectral density of interference signal by nearest neighbor method according to relationship between power spectral density and frequencyStop band bandwidth/>, of a band stop filterThe method comprises the following steps:
。
s3, obtaining lower and upper limit cut-off angular frequencies of the analog band-stop filter according to the center cut-off frequency and the stop band bandwidth, wherein the lower and upper limit cut-off angular frequencies are as follows:
；
In the method, in the process of the invention, The cut-off angle frequency is corresponding to the center cut-off frequency;
Obtaining the stop band cut-off angular frequency of the simulated prototype low-pass filter according to the lower limit cut-off angular frequency and the upper limit cut-off angular frequency of the simulated band-stop filter And passband angular frequency/>；
According to、/>And filter order and type, obtaining a digital prototype low-pass filter transfer function/>, based on bilinear transformationAnd obtain transfer function/>, of the digital band-stop filter according to the spectral transformation：
；
In the method, in the process of the invention,、/>、/>、/>、/>、/>Is a function parameter.
S4 comprises that the input signal isTransfer function/>, of a non-time-delay complementary bandpass filterThe method comprises the following steps:
；
Heave motion of ship The method comprises the following steps:
。
Compared with the prior art, the invention has the following beneficial effects: the method provided by the invention can not only effectively reduce the dependence on priori knowledge or experience values and peak detection range setting, but also realize the filter design by adaptively acquiring the filter parameters, and remarkably reduce the influence of delay errors, thereby realizing high-precision measurement of ship heave motion.
Drawings
FIG. 1 is a flow chart of transfer function acquisition for a non-delay complementary bandpass filter;
FIG. 2 is a graph of power spectral density analysis of vertical acceleration of a vessel;
FIG. 3 is an output heave motion diagram of the vessel;
FIG. 4 is a diagram of a conventional bandpass filter obtaining heave motion of a vessel;
FIG. 5 is a heave motion diagram of a vessel obtained with a fixed parameter time delay-free complementary bandpass filter;
FIG. 6 is a heave motion of a vessel obtained by a slip adaptive delay-free complementary bandpass filter;
FIG. 7 is a graph of error between heave of a vessel and a reference true value obtained by a conventional bandpass filter, and the RMS value;
FIG. 8 is a plot of error and RMS values between heave of the vessel and a reference true value obtained by a fixed parameter non-delayed complementary bandpass filter;
FIG. 9 is a plot of error versus RMS value between heave of the vessel and a reference true value obtained by sliding an adaptive delay-free complementary bandpass filter.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the present invention will be clearly and completely described below, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
A ship heave measurement method based on a self-adaptive time-delay-free complementary band-pass filter comprises the following steps:
S1, mechanically arranging according to a strapdown inertial navigation system to obtain roll angle, pitch angle and course angle information, and constructing a direction cosine matrix converted from a carrier coordinate system b system to a navigation coordinate system n system Vertical acceleration information output by strapdown inertial navigation system/>And local gravitational acceleration/>Obtaining heave acceleration/>, of a vessel；
S2, carrying out power spectral density analysis on heave acceleration in different windows by adopting a sliding window, and obtaining the stop band center cut-off frequency by using a maximum value detection methodObtaining a value of which the power spectral density tends to be flat and the corresponding frequency according to two methods of statistical analysis and nearest neighbor so as to obtain the stop band bandwidth/>；
S3 according toAnd/>Calculating to obtain the lower limit cut-off angle frequency/>, of the band-stop filterAnd upper cutoff frequency/>Taking the low-pass filter as a medium to obtain a transfer function of the band-stop filter;
and S4, according to the transfer function of the band-stop filter, obtaining a transfer function of a time delay-free complementary band-pass filter based on complementarity, and filtering and twice integrating the ship heave acceleration to obtain a ship heave motion value.
S1 includes the group consisting of,The method comprises the following steps:
；
；/>；
；
In the method, in the process of the invention, Heading angle, roll angle and pitch angle respectively,/>For vertical acceleration in navigational coordinate system,/>Representing the local latitude.
S2 comprises that the length of the heave acceleration data isSliding window length is/>Number of windows/>The method comprises the following steps:
；
If it is For integers, heave acceleration data is divided into/>Windows, carrying out power spectrum density analysis on the window data;
If it is For floating point number or decimal, performing power spectral density analysis on window data of integer part, and performing power spectral density analysis on/>Obtaining window number/>, by rounding downThe method comprises the following steps:
；
In the method, in the process of the invention, The method comprises the steps of representing downward rounding, and taking the rounded data of the insufficient integer as a window to perform power spectrum density analysis.
The power spectral density analysis is that of random signalsIs the autocorrelation function/>The method comprises the following steps:
；
In the method, in the process of the invention, For time delay,/>For observing time,/>For the current time,/>For subtracting the time delayed random signal;
fourier transforming the two sides of the autocorrelation function to obtain the power spectral density of the signal ：
；
In the method, in the process of the invention,Representing the sampling frequency,/>Representing a complex number of units.
Obtaining stop band center cut-off frequency using maximum detection methodThe method comprises the steps of carrying out power spectrum density analysis according to ship heave acceleration in different windows, and obtaining frequency/>, corresponding to the maximum value, through maximum value detectionWill/>Center cut-off frequency/>, as a band stop filter：
；
Obtaining a value of which the power spectral density tends to be flat and the corresponding frequency according to two methods of statistical analysis and nearest neighbor so as to obtain the stop band bandwidthThe method comprises obtaining average value of power spectral density value range corresponding to maximum signal count by histogram statistics, and obtaining frequency/>, closest to center cut-off frequency, corresponding to power spectral density of interference signal by nearest neighbor method according to relationship between power spectral density and frequencyStop band bandwidth/>, of a band stop filterThe method comprises the following steps:
。
s3, obtaining lower and upper limit cut-off angular frequencies of the analog band-stop filter according to the center cut-off frequency and the stop band bandwidth, wherein the lower and upper limit cut-off angular frequencies are as follows:
；
In the method, in the process of the invention, The cut-off angle frequency is corresponding to the center cut-off frequency;
Obtaining the stop band cut-off angular frequency of the simulated prototype low-pass filter according to the lower limit cut-off angular frequency and the upper limit cut-off angular frequency of the simulated band-stop filter And passband angular frequency/>；
According to、/>And filter order and type, obtaining a digital prototype low-pass filter transfer function/>, based on bilinear transformationAnd obtain transfer function/>, of the digital band-stop filter according to the spectral transformation：
；
In the method, in the process of the invention,、/>、/>、/>、/>、/>Is a function parameter.
S4 comprises that the input signal isTransfer function/>, of a non-time-delay complementary bandpass filterThe method comprises the following steps:
；
Heave motion of ship The method comprises the following steps:
。
The definition of heave motion of a vessel is: periodic movement of the vessel relative to the local sea level. Heave motions are defined herein as motions similar to the above, i.e. motions of the vessel up and down relative to the local sea level, which motions are along the vertical axis and have periodicity, the frequency band of the motions being called heave frequency band. The acceleration along heave direction of inertial navigation output inevitably contains oscillation type system errors such as a schler oscillation period term and an earth oscillation period term, and compared with heave motion with a period of about ten seconds, the system error period is long and the frequency is low. If the integral operation is directly carried out on the vertical acceleration, the system error is seriously accumulated, and the twice integral natural displacement mainly shows that part of the Schlemer oscillation is in a divergent state in a short time.
The transfer function acquisition flow of the non-delay complementary band-pass filter is shown in figure 1, according to the heave acceleration power spectral density, the frequency corresponding to the maximum power spectral density obtained by a histogram statistics and nearest neighbor method is used as the center cut-off frequency and the stop band bandwidth, and according to the relational expression of the lower and upper limit cut-off angular frequencies, the center cut-off frequency and the stop band bandwidth of the analog band-stop filter, the lower and upper limit cut-off angular frequencies of the analog band-stop filter are obtained through the pre-distortion treatment; frequency conversion is carried out on the filter to obtain stop band cut-off angular frequency and pass band angular frequency of the analog low-pass filter, so that the transfer function of the analog low-pass filter is obtained; according to bilinear transformation, a digital low-pass filter transfer function is obtained, and spectrum transformation is carried out on the digital low-pass filter transfer function to obtain a band-stop filter transfer function; and finally, according to the complementarity, obtaining the transfer function of the non-delay complementary band-pass filter.
In order to verify the effectiveness of the algorithm, the inertial navigation vertical acceleration data are processed, and four methods of POS MV, a traditional band-pass filter, a fixed parameter non-delay complementary band-pass filter and a sliding self-adaptive non-delay complementary band-pass filter are compared. And taking the result of the POS MV as a reference true value, and obtaining the RMS value of the error between the three methods and the reference true value.
Carrying out power spectral density analysis on the vertical acceleration of the ship as shown in fig. 2, carrying out difference between the vertical acceleration output by strapdown inertial navigation and the local gravity acceleration to obtain the heave acceleration of the ship, and solving the power spectral density of the ship, wherein the horizontal axis represents frequency and the vertical axis represents power spectral density; the ship heave output by the POS MV is adopted, the horizontal axis represents time, and the vertical axis represents ship heave motion, as shown in figure 3; the ship heave acceleration is filtered and integrated twice by adopting a traditional band-pass filter to obtain the ship heave as shown in fig. 4, wherein the horizontal axis represents time and the vertical axis represents ship heave motion; filtering and twice integrating the ship heave acceleration by adopting a fixed parameter time delay-free complementary band-pass filter to obtain ship heave as shown in fig. 5, wherein the horizontal axis represents time and the vertical axis represents ship heave motion; filtering and twice integrating the ship heave acceleration by adopting a sliding self-adaptive non-delay complementary band-pass filter to obtain ship heave, wherein the horizontal axis represents time and the vertical axis represents ship heave motion as shown in fig. 6; the difference between the ship heave obtained by POS MV and the ship heave obtained by the traditional band-pass filter is shown in figure 7, a ship heave error map of the traditional band-pass filter is obtained, and the RMS value of the ship heave error map is obtained to be 0.044741m; the difference between the ship heave obtained by the POS MV and the ship heave obtained by the fixed parameter non-delay complementary band-pass filter is shown as figure 8, a ship heave error map of the fixed parameter non-delay complementary band-pass filter is obtained, and the RMS value of the ship heave error map is 0.029791m; the difference between the ship heave obtained by the POS MV and the ship heave obtained by the sliding self-adaptive non-delay complementary band-pass filter is shown in figure 9, a ship heave error map of the sliding self-adaptive non-delay complementary band-pass filter is obtained, and the RMS value of the ship heave error map is obtained to be 0.026692m. Compared with the traditional band-pass filter and the fixed-parameter time-delay-free complementary band-pass filter, the method provided by the invention has the advantage that the heave precision of the ship is improved.
The above embodiments are only for illustrating the technical aspects of the present invention, not for limiting the same, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may be modified or some or all of the technical features may be replaced with other technical solutions, which do not depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. The ship heave measurement method based on the self-adaptive time-delay-free complementary band-pass filter is characterized by comprising the following steps of:
S1, mechanically arranging according to a strapdown inertial navigation system to obtain roll angle, pitch angle and course angle information, and constructing a direction cosine matrix converted from a carrier coordinate system b system to a navigation coordinate system n system Vertical acceleration information output by strapdown inertial navigation system/>And local gravitational acceleration/>Obtaining heave acceleration/>, of a vessel；
S2, carrying out power spectral density analysis on heave acceleration in different windows by adopting a sliding window, and obtaining the stop band center cut-off frequency by using a maximum value detection methodObtaining a value of which the power spectral density tends to be flat and the corresponding frequency according to two methods of statistical analysis and nearest neighbor so as to obtain the stop band bandwidth/>；
S3 according toAnd/>Calculating to obtain the lower limit cut-off angle frequency/>, of the band-stop filterAnd upper cutoff frequency/>Taking the low-pass filter as a medium to obtain a transfer function of the band-stop filter;
and S4, according to the transfer function of the band-stop filter, obtaining a transfer function of a time delay-free complementary band-pass filter based on complementarity, and filtering and twice integrating the ship heave acceleration to obtain a ship heave motion value.
2. The method for measuring heave of a vessel based on an adaptive time-lapse complementary bandpass filter according to claim 1, wherein S1 comprises,The method comprises the following steps:
；
；/>；
；
In the method, in the process of the invention, Heading angle, roll angle and pitch angle respectively,/>For vertical acceleration in navigational coordinate system,/>Representing the local latitude.
3. The method for measuring heave of a vessel based on the adaptive time-lapse-free complementary bandpass filter according to claim 2, wherein S2 comprises that the length of the heave acceleration data isSliding window length is/>Number of windows/>The method comprises the following steps:
；
If it is For integers, heave acceleration data is divided into/>Windows, carrying out power spectrum density analysis on the window data;
If it is For floating point number or decimal, performing power spectral density analysis on window data of integer part, and performing power spectral density analysis on/>Obtaining window number/>, by rounding downThe method comprises the following steps:
；
In the method, in the process of the invention, The method comprises the steps of representing downward rounding, and taking the rounded data of the insufficient integer as a window to perform power spectrum density analysis.
4. A ship heave measurement method based on an adaptive time-delay-free complementary bandpass filter according to claim 3, characterized in that the power spectral density analysis is a random signalIs the autocorrelation function/>The method comprises the following steps:
；
In the method, in the process of the invention, For time delay,/>For observing time,/>For the current time,/>For subtracting the time delayed random signal;
fourier transforming the two sides of the autocorrelation function to obtain the power spectral density of the signal ：
；
In the method, in the process of the invention,Representing the sampling frequency,/>Representing a complex number of units.
5. The ship heave measurement method based on the adaptive time-delay-free complementary band-pass filter according to claim 4, wherein the stop band center cut-off frequency is obtained by using a maximum value detection methodThe method comprises the steps of carrying out power spectrum density analysis according to ship heave acceleration in different windows, and obtaining frequency/>, corresponding to the maximum value, through maximum value detectionWill/>Center cut-off frequency/>, as a band stop filter：
；
Obtaining a value of which the power spectral density tends to be flat and the corresponding frequency according to two methods of statistical analysis and nearest neighbor so as to obtain the stop band bandwidthThe method comprises obtaining average value of power spectral density value range corresponding to maximum signal count by histogram statistics, and obtaining frequency/>, closest to center cut-off frequency, corresponding to power spectral density of interference signal by nearest neighbor method according to relationship between power spectral density and frequencyStop band bandwidth/>, of a band stop filterThe method comprises the following steps:
。
6. The ship heave measurement method based on the adaptive time-delay-free complementary band-pass filter according to claim 5, wherein S3 comprises obtaining lower and upper limit cut-off angular frequencies of the analog band-stop filter according to the center cut-off frequency and the stop band bandwidth as follows:
；
In the method, in the process of the invention, The cut-off angle frequency is corresponding to the center cut-off frequency;
Obtaining the stop band cut-off angular frequency of the simulated prototype low-pass filter according to the lower limit cut-off angular frequency and the upper limit cut-off angular frequency of the simulated band-stop filter And passband angular frequency/>；
According to、/>And filter order and type, obtaining a digital prototype low-pass filter transfer function/>, based on bilinear transformationAnd obtain transfer function/>, of the digital band-stop filter according to the spectral transformation：
；
In the method, in the process of the invention,、/>、/>、/>、/>、/>Is a function parameter.
7. The adaptive time-delay-free complementary bandpass filter-based ship heave measurement method according to claim 6, wherein S4 comprises that the input signal isTransfer function/>, of a non-time-delay complementary bandpass filterThe method comprises the following steps:
；
Heave motion of ship The method comprises the following steps:
。
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