CN101650186A - Method for measuring ship deck static deformation angle - Google Patents

Abstract

The invention provides a method for measuring a ship deck static deformation angle, comprising the following steps: (1) obtaining an output gesture, a position and speed information of a center inertial navigation system; (2) copying gesture information data of the center inertial navigation system to the local inertial navigation of a local desk by using the navigation information of a ship center strapdown inertial navigation system, and establishing and calculating a conversion matrix (i.e. an initial strapdown matrix Cs<n>) between a local inertial navigation carrier coordinate system s and a navigation coordinate system n by using the gesture data; (3) establishing a Kalman filtration state equation by using two suits of inertial navigation system misalignment angle errors and local desk static deformation angle errors, measuring a measuring equation by using the gesture difference of the inertial navigation system misalignment angle errors and the local desk static deformation angle errors as quantities, and estimating a desk static deformation angle by Kalman filtration. The method has no need to change an installing structure especially and has better reliability and practicability.

Description

A kind of method that ship deck static deformation angle is measured

(1) technical field

The present invention relates to a kind of naval vessel deformation measurement method of strapdown inertial navitation system (SINS), particularly a kind of ship deck static deformation measuring technique based on optical fibre gyro.

(2) background technology

Inertial navigation utilizes inertance element to measure the line of motion acceleration and the angular velocity of carrier, goes out speed and the position of carrier with respect to the earth in prediction on such basis, and the information such as attitude of carrier.Strap-down inertial navigation system has omitted accurate stable platform and control gear, the design of system is greatly simplified, cost reduces significantly, compare with the platform inertial navigation that to have a volume little, in light weight, cost is low, the reliability height, be convenient to advantages such as maintenance, therefore obtain application more and more widely, the military inertial navigation system of the U.S. has just accounted for 90% strapdown in 1994.

In actual conditions, the influence of many factors such as the naval vessel is subjected to serviceable life, wave stroke, solar radiation, the operation of coming about, hull load, the capital causes the ship deck distortion, and the distortion meeting of ship deck produces very important influence to the fast initial alignment of each local inertial navigation equipment on the naval vessel.The deck distortion generally includes dynamic deformation and static deformation.Wherein the deck static angular distortion on naval vessel mainly is subjected to the influence of factors such as long, institute's cargo in serviceable life on naval vessel, fuel change and Exposure to Sunlight.Static angular is not constant all the time, just the cycle of angle variation is long, think constant in time at short aligning, according to the relevant afloat measuring reports in naval vessel, and show that in the measured experimental data of different sea condition sea trials the deflection among a day can reach 1 °～1.5 °.Therefore, how to measuring significant based on the ship deck static deformation of optical fibre gyro.

Alignment procedures exists the contradiction between rapidity and the accuracy, in order to solve steady, fast, the accurate coordination problem of alignment procedures, consider to make full use of the output information of the inertia assembly of the navigation information of naval vessel master's inertial navigation and carrier-borne equipment, carry out Transfer Alignment, can significantly reduce the aligning time and obtain good alignment precision, and distortion angle, deck has a strong impact on the effect of fast transfer alignment.Traditional method of utilizing optical correction instrument calibration distortion angle need provide expensive instrument, needs to lay the light path of calibration usefulness simultaneously, does not have practicality on large ship.

(3) summary of the invention

The object of the present invention is to provide a kind of a kind of method that ship deck static deformation angle is measured that can effectively measure for ship deck static deformation angle.

The object of the present invention is achieved like this: mainly comprise following steps:

(1) by the installation calibrating of machinery and optical instrument, the attitude and the center inertial navigation of the local inertial navigation in local deck are consistent, center, naval vessel strapdown inertial navitation system (SINS) pipeline start up by preheating also begins initial alignment;

(2) enter navigational state after center, naval vessel strapdown inertial navitation system (SINS) initial alignment finishes, the center inertial navigation system resolves by self, attitude, position, velocity information after obtaining resolving;

(3) the inertial navigation equipment pipeline start up by preheating of the carrier-borne equipment in local deck, the optical fibre gyro of the carrier-borne equipment in deck and quartz accelerometer begin to gather specific force and angular velocity information, and with the information that collects by the navigation calculation unit of cable transmission to self, the information transmission that the center strapdown inertial navitation system (SINS) is calculated by transmission cable is to the navigation calculation unit of the carrier-borne equipment in local deck simultaneously;

(4) the navigation calculation unit of the carrier-borne equipment in local deck receives the navigation data of storage center, naval vessel strapdown inertial navitation system (SINS), utilizes attitude data information to set up the carrier coordinate system of calculating carrier-borne equipment inertial navigation And navigation coordinate is the transition matrix between the n, promptly initial strapdown matrix , and be object with the dynamic deformation angle;

(5) setting up with the local deck static deformation angle error of two cover inertial navigation system misalignment sum of errors is the Kalman filtering state equation of state variable, is the measurement equation of measurement amount with both attitude differences, goes out deck static deformation angle by Kalman Filter Estimation.

Described Kalman filtering state equation is:

Wherein:

Be the velocity contrast of two cover inertial reference calculations, f is the specific force that the local inertial navigation in local deck records, w _IeBe the angular velocity of earth movements, w _EnFor navigation is the angular velocity that the relative earth is, φ is

And the angle between m system, ξ are the deck static deformation angle between s and m system, and η (t) is a dynamic deformation angular velocity, ω _NmThe angular velocity that the relative navigation of measuring for the center inertial navigation is; ε ^sBe the local inertial navigation gyroscopic drift in local deck measuring error.

Described measurement equation is:

z＝Hx+v(t)

Wherein: measurement amount z=[φ _xφ _yφ _y] ^T, H is for measuring matrix, and v is the measurement noise battle array, and φ is

And the angle between m system.

The present invention utilizes the navigation information of naval vessel master's inertial navigation and the inertia assembly output information of carrier-borne equipment to carry out matched filtering, estimates distortion angle, deck.In the rapid alignment process, the present invention considers the deck is out of shape the angle as a state variable, and it is estimated to obtain being out of shape the angle, and is deformation-compensated to be used for.Method of the present invention has following advantage: (1) directly utilizes center, naval vessel inertial navigation system and local inertial navigation system information, does not need special change mounting structure; (2) can utilize the Kalman Filter Technology of present research comparative maturity to carry out Filtering Estimation, adopt numerical approach, have good reliability; (3) method does not require that the naval vessel at the uniform velocity sails through to motion, has more practicality.

Beneficial effect of the present invention is verified by following policy:

(1) Matlab emulation

Under following simulated conditions, this method is carried out emulation experiment:

Strapdown inertial navitation system (SINS) is done the three-axis swinging motion of different amplitudes.Carrier waves around yaw angle, pitch angle and roll angle with sinusoidal rule, and its mathematical model is:

pitch＝pitchm·sin(ω _ψ+φ _ψ)

roll＝rollm·sin(ω _θ+φ _θ)

yaw＝yawm·sin(ω _γ+φ _γ)+yawk

Wherein: pitch, roll, yaw represent the angle variables around pitch angle, roll angle and yaw angle respectively; Pitchm, rollm, yawm represent to wave accordingly the angle amplitude respectively; ω _ψ, ω _θ, ω _γRepresent corresponding angle of oscillation frequency respectively; φ _ψ, φ _θ, φ _γRepresent corresponding initial phase respectively; And ω _i=2 π/T _i, i=ψ, θ, γ, T _iRepresent corresponding rolling period; Yawk is the angle, initial heading.

The correlation parameter of emulation:

Sampling period: 0.05s;

Under the orderly sea: pitchm=1 °, rollm=1.5 °, yawm=1 °;

Under the medium sea situation: pitchm=5 °, rollm=6 °, yawm=5 °;

Two kinds of sea situations all satisfy: T _ψ=6s, T _θ=9s, T _γ=8s, yawk=30 °;

Carrier initial position: 45.7796 ° of north latitude, 126.6705 ° of east longitudes;

Deck static deformation angle: 1 ° at lateral error angle, 1 ° at longitudinal error angle, 1.5 ° at course error angle;

Equatorial radius: R=6378393.0m;

Ellipsoid degree: e=3.367e-3;

Earth surface acceleration of gravity: g ₀=9.78049;

Rotational-angular velocity of the earth (radian per second): 7.2921158e-5;

The gyroscope constant value drift: 0.01 degree/hour;

Gyroscope white noise error: 0.005 degree/hour;

Accelerometer bias: 10 ^-4g ₀

Accelerometer white noise error: 5 * 10 ^-5g ₀:

The vertical static deformation angle evaluated error of orderly sea lower decks, the horizontal static deformation angle in deck and deck bow to static deformation angle evaluated error curve respectively as Fig. 1, Fig. 2 and shown in Figure 3; The vertical static deformation angle error of medium sea situation lower decks, the horizontal static deformation angle in deck and deck bow to the static deformation angle graph of errors respectively as Fig. 4, Fig. 5 and shown in Figure 6.

Under two kinds of sea situations, it is the estimation procedure difference, estimated result much at one, can both Fast estimation go out distortion angle, deck, under the Ship Motion condition of reality, this method does not require at the uniform velocity direct route, only need carry out certain rolling, pitching and bow stern shakes motion, be easy to realize for the naval vessel, and can reduce distortion angle estimated time when amplitude suitably increases, the raising alignment precision when waving.Adopt method of the present invention can obtain higher deck static deformation angle estimated accuracy.

(2) three-axle table of fiber-optic gyroscope strapdown inertial navigation system experiment

Fiber-optic gyroscope strapdown inertial navigation system and certain high-precision inertial navigation system of development voluntarily are fixedly installed togather, are placed on afterwards and carry out three-axis swinging experiment on the three-axle table, the navigate device precision and the experimental situation of appearance system of used fiber-optic gyroscope strapdown is as follows in the experiment:

Measure deck static deformation angle before the experiment: vertical 0.0694 °, horizontal 0.0641 °, course-1.3340 °;

Gyroscope constant value drift: 0.01 °/h;

Gyroscope white noise error: 0.005 °/h;

Accelerometer bias: 10 ^-4g ₀

Accelerometer white noise error: 5 * 10 ^-5g ₀:

Turntable waves around pitch axis, axis of roll and course axle with sinusoidal rule, and its mathematical model is:

pitch＝pitchm·sin(ω _ψ+φ _ψ)

roll＝rollm·sin(ω _θ+φ _θ)

yaw＝yawm·sin(ω _γ+φ _γ)+yawk

pitchm＝5°，rollm＝6°，yawm＝5°；，T _ψ＝4s，T _θ＝4s，T _γ＝4s

The true attitude of carrier: ψ=180 °, θ=0 °, γ=0 °

Utilize the described method of invention obtain three-axle table to quasi-experiment swinging condition pedestal course static deformation angle, vertically the pedestal static deformation angle and laterally pedestal static deformation angle estimation curve respectively as Fig. 7, Fig. 8 and shown in Figure 9.The result shows that the estimation effect that is out of shape the angle in the turntable test under this kind state can reach certain precision.

(4) description of drawings

Fig. 1 is the vertical static deformation angle evaluated error of an orderly sea lower decks curve;

Fig. 2 is the horizontal static deformation angle evaluated error of an orderly sea lower decks curve;

Fig. 3 is an orderly sea lower decks course static deformation angle evaluated error curve;

Fig. 4 is the vertical static deformation angle evaluated error of medium sea situation lower decks;

Fig. 5 is the horizontal static deformation angle evaluated error of medium sea situation lower decks;

Fig. 6 is a medium sea situation lower decks course static deformation angle evaluated error;

Fig. 7 is that three-axle table is to the vertical static deformation angle estimation curve of quasi-experiment pedestal;

Fig. 8 is that three-axle table is to the horizontal static deformation angle estimation curve of quasi-experiment pedestal;

Fig. 9 is that three-axle table is to quasi-experiment pedestal course static deformation angle estimation curve.

(5) embodiment

For example the present invention is done in more detail below and describes:

(1) by the installation calibrating of machinery and optical instrument, the attitude and the center inertial navigation of the local inertial navigation in local deck are consistent, this moment, the attitude difference of two cover inertial navigations was very little low-angles, center, naval vessel strapdown inertial navitation system (SINS) pipeline start up by preheating also begins initial alignment;

(2) enter navigational state after center, naval vessel strapdown inertial navitation system (SINS) initial alignment finishes, the center inertial navigation system resolves by self, attitude, position, velocity information after obtaining resolving;

(3) the inertial navigation equipment pipeline start up by preheating of the carrier-borne equipment in local deck, the optical fibre gyro of the carrier-borne equipment in deck and quartz accelerometer begin to gather specific force and angular velocity information, and with the information that collects by the navigation calculation unit of cable transmission to self, the information transmission that the center strapdown inertial navitation system (SINS) is calculated by transmission cable is to the navigation calculation unit of the carrier-borne equipment in local deck simultaneously;

(4) the navigation calculation unit of the carrier-borne equipment in local deck receives the navigation data of storage center, naval vessel strapdown inertial navitation system (SINS), utilizes attitude data information to set up the carrier coordinate system of calculating carrier-borne equipment inertial navigation

And navigation coordinate is the transition matrix between the n, promptly initial strapdown matrix

The attitude information that duplicates by the center inertial navigation and the true attitude on incomplete local deck, both carrier coordinate system are not in full accord, do not consider this moment because dynamic deformation angle and the lever arm that various factorss such as sea beat cause, need to revise the misalignment φ between the two cover inertial navigation coordinate systems so this moment, just the function of deck static deformation angle ξ and inertial navigation device error equal error;

(5) setting up with two cover inertial navigation system misalignment sum of errors deck static deformation angle errors is the Kalman filtering state equation of state variable, is the measurement equation of measurement amount with both attitude differences, by Kalman filtering deck static deformation angle is estimated:

At first provide the coordinate system that need use: i represents inertial coordinates system, and e represents terrestrial coordinate system, and n represents navigation coordinate system (local level refers to backlands reason coordinate system), and m represents center inertial navigation carrier coordinate system, and s represents the local inertial navigation carrier coordinate system in local deck,

The local inertial navigation carrier coordinate system in the local deck that expression is calculated.

1) the deck static deformation angle differential equation:

After the attitude initialization of local inertial navigation,

$C_{\hat{s}}^n=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}\cos \mathrm{\&psi;}-\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& -\cos \mathrm{\&theta;}\sin \mathrm{\&psi;}& \sin \mathrm{\&gamma;}\cos \mathrm{\&psi;}+\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}\\ \cos \mathrm{\&gamma;}\sin \mathrm{\&psi;}+\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& \cos \mathrm{\&theta;}\cos \mathrm{\&psi;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&psi;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}\\ -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}& \cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}\end{array}\right]$

Wherein: ψ, θ, γ are respectively pitch angle, roll angle and the course angle of center inertial navigation system.

Promptly satisfy:

$C_m^n\left(0\right)=C_{\hat{s}}^n\left(0\right)---\left(1\right)$

Initialization is φ (0)=0 constantly, after the initialization, is goal in research with the deck static deformation angle, and the differential arrangement can obtain comprising the differential equation of deck static deformation angle:

$\stackrel{\&CenterDot;}{\mathrm{\&phi;}}=(\mathrm{\&phi;}\&times;{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{\mathrm{nm}}^s)-(\mathrm{\&xi;}\&times;{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{\mathrm{nm}}^s)+{\mathrm{\&epsiv;}}^s=(\mathrm{\&phi;}-\mathrm{\&xi;})\&times;{\stackrel{\&OverBar;}{\mathrm{\&omega;}}}_{\mathrm{nm}}^s+{\mathrm{\&epsiv;}}^s---\left(2\right)$

Wherein: φ is

And the angle between m system, ξ are the deck static deformation angle between s and m system, ω _Nm ^sThe projection of the angular velocity that the relative navigation of measuring for the center inertial navigation is in the local inertial navigation carrier coordinate system in local deck; ε ^sBe the local inertial navigation gyroscopic drift in local deck measuring error.

2) set up Kalman filtering state equation:

She Ji wave filter is not considered the relative attitude error that gyroscope causes under study for action, by increasing the process noise in the relative attitude error equation, to compensate the gyrostatic measuring error of not modeling.The state variable of getting system is:

X＝[δv _x?δv _y?φ _x?φ _y?φ _z?ξ _x?ξ _y?ξ _z] ^T (3)

ξ=[ξ wherein _xξ _yξ _z] ^TBe the deck static deformation angle of reality to be estimated, think that in filtering it is a constant, that is:

$\stackrel{\&CenterDot;}{\mathrm{\&xi;}}=0---\left(4\right)$

Here we are research emphasis with the deck static deformation angle, and think that lever arm compensates, so it is as follows directly to provide velocity error:

$\mathrm{\&delta;}{\stackrel{\&CenterDot;}{\stackrel{\&OverBar;}{v}}}^n={\stackrel{\&OverBar;}{f}}^n\&times;\mathrm{\&phi;}-(2{\stackrel{\&OverBar;}{w}}_{\mathrm{ie}}^n+{\stackrel{\&OverBar;}{w}}_{\mathrm{en}}^n)\&times;\mathrm{\&delta;}{\stackrel{\&OverBar;}{v}}^n+\mathrm{\&xi;}---\left(5\right)$

The comprehensive above various state equation that obtains Kalman filtering is:

3) set up Kalman filtering measurement equation:

With the measurement amount of the attitude difference between the two cover inertial navigation systems as Kalman filtering,

z＝Hx+v(t)

Wherein: measurement amount z=[φ _xφ _yφ _z] ^T, H is for measuring matrix, and v is the measurement noise battle array, and φ is

And the angle between m system.

The vector form that can obtain the system filter model of to sum up deriving is:

$\left\{\begin{array}{c}\stackrel{.}{X}=\mathrm{AX}+\mathrm{BW}\\ Z=\mathrm{HX}+V\end{array}\right.---\left(7\right)$

Wherein:

$A=\left[\begin{array}{ccc}{A}_1& A_2& -{\mathrm{<figure-callout\; id="2"\; label="A"\; filenames="A2009100729550015H1.png"\; state="\{\{state\}\}">A</figure-callout>}}_2\\ 0_{3\&times;2}& A_3& -A_3\\ 0_{3\&times;2}& 0_{3\&times;3}& 0_{3\&times;3}\end{array}\right]$

$A_2=\left[\begin{array}{ccc}{c}_{13}{f}_y-c_{12}{f}_z& -c_{13}{f}_x+c_{11}{f}_z& c_{12}{f}_x-c_{11}{f}_z\\ c_{23}{f}_y-c_{22}{f}_z& -c_{23}{f}_x+c_{21}{f}_z& c_{22}{f}_x-c_{21}{f}_z\end{array}\right]$

$A_3=\left[\begin{array}{ccc}0& {\mathrm{\&omega;}}_z& -{\mathrm{\&omega;}}_y\\ -{\mathrm{\&omega;}}_{\mathrm{<figure-callout\; id="0"\; label="z"\; filenames="A2009100729550013H1.png,A2009100729550013H2.png"\; state="\{\{state\}\}">z</figure-callout>}}& 0& {\mathrm{\&omega;}}_x\\ {\mathrm{\&omega;}}_y& -{\mathrm{\&omega;}}_x& 0\end{array}\right]$

$B=\left[\begin{array}{ccc}{\mathrm{<figure-callout\; id="2"\; label="C"\; filenames="A2009100729550015H1.png"\; state="\{\{state\}\}">C</figure-callout>}}_2& 0& 0\\ 0& I_{3\&times;3}& 0\\ 0& 0& I_{3\&times;3}\end{array}\right],{\mathrm{<figure-callout\; id="2"\; label="C"\; filenames="A2009100729550015H1.png"\; state="\{\{state\}\}">C</figure-callout>}}_2=\left[\begin{array}{cc}{c}_{11}& c_{12}\\ c_{21}& c_{22}\end{array}\right]$

$H=\left[\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ 0& 0& 1\end{array}\right]$

Be local latitude, c _IjThe direction cosine matrix of carrier coordinate system to navigation coordinate system calculated in carrier-borne equipment inertial navigation

Element.W=[w _Vxw _Vyw _{φ x}w _{φ y}w _{φ z}w _{ξ x}w _{ξ y}w _{ξ z}] ^TBe the system noise acoustic matrix, V=[w _{φ x}w _{φ y}w _{φ z}] ^TIt is the measurement noise battle array.

Given corresponding initial parameter condition can direct estimation go out deck static deformation angle by Kalman filtering, is used to revise the attitude matrix of local inertial navigation system.

Claims (3)

1, a kind of method that ship deck static deformation angle is measured is characterized in that: mainly comprise following steps:

(1) by the installation calibrating of machinery and optical instrument, the attitude and the center inertial navigation of the local inertial navigation in local deck are consistent, center, naval vessel strapdown inertial navitation system (SINS) pipeline start up by preheating also begins initial alignment;

(2) enter navigational state after center, naval vessel strapdown inertial navitation system (SINS) initial alignment finishes, the center inertial navigation system resolves by self, attitude, position, velocity information after obtaining resolving;

(3) the inertial navigation equipment pipeline start up by preheating of the carrier-borne equipment in local deck, the optical fibre gyro of the carrier-borne equipment in deck and quartz accelerometer begin to gather specific force and angular velocity information, and with the information that collects by the navigation calculation unit of cable transmission to self, the information transmission that the center strapdown inertial navitation system (SINS) is calculated by transmission cable is to the navigation calculation unit of the carrier-borne equipment in local deck simultaneously;

(4) the navigation calculation unit of the carrier-borne equipment in local deck receives the navigation data of storage center, naval vessel strapdown inertial navitation system (SINS), utilizes attitude data information to set up the carrier coordinate system of calculating carrier-borne equipment inertial navigation; And navigation coordinate is the transition matrix between the n, promptly initial strapdown matrix

(5) setting up with the local deck static deformation angle error of two cover inertial navigation system misalignment sum of errors is the Kalman filtering state equation of state variable, is the measurement equation of measurement amount with both attitude differences, goes out deck static deformation angle by Kalman Filter Estimation.

2, a kind of method that ship deck static deformation angle is measured according to claim 1 is characterized in that described Kalman filtering state equation is:

Wherein:

Be the velocity contrast of two cover inertial reference calculations, f is the specific force that the local inertial navigation in local deck records, w _IeBe the angular velocity of earth movements, w _EnFor navigation is the angular velocity that the relative earth is, φ is

And the angle between m system, ξ are the deck static deformation angle between s and m system, and η (t) is a dynamic deformation angular velocity, ω _NmThe angular velocity that the relative navigation of measuring for the center inertial navigation is; ε is the local inertial navigation gyroscopic drift in a local deck measuring error.

3, a kind of method that ship deck static deformation angle is measured according to claim 1 and 2,

It is characterized in that described measurement equation:

z＝Hx+v(t)

Wherein: measurement amount z=[φ _xφ _yφ _z] ^T, H is for measuring matrix, and v is the measurement noise battle array, and φ is

And the angle between m system.

Images