CN112629540A - Carrier attitude information-based heave measurement method - Google Patents

Carrier attitude information-based heave measurement method Download PDF

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CN112629540A
CN112629540A CN202011488010.6A CN202011488010A CN112629540A CN 112629540 A CN112629540 A CN 112629540A CN 202011488010 A CN202011488010 A CN 202011488010A CN 112629540 A CN112629540 A CN 112629540A
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frequency
carrier
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CN112629540B (en
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李鹏
魏宗康
张玲
唐文浩
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Beijing Aerospace Control Instrument Institute
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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
    • 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

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Abstract

The invention discloses a heave measurement method based on carrier attitude information, which comprises the following steps: acquiring carrier attitude data information regularly; wherein the pose information comprises: roll angle theta, pitch angle gamma and yaw angle
Figure DDA0002839894760000011
At least one of; obtaining frequency and amplitude information of the carrier fluctuating along with the sea waves according to the attitude information; designing a filter according to the frequency and amplitude information; wherein the filter comprises a passband cut-off frequency fpStopband cut-off frequency fsPassband attenuation ApStopband attenuation AsCut-off frequency omegacFilter parameters such as filter order N; obtaining the actual vertical acceleration information of the carrier by the inertial navigation systemAnd obtaining the heave motion information of the carrier through three times of filtering and two times of integration. The invention realizes the adaptive design of the filter for carrying out the heave measurement based on the attitude information and improves the precision of the carrier heave motion measurement.

Description

Carrier attitude information-based heave measurement method
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
Surface ships and underwater vehicles can generate heave motion along with wave fluctuation during the task execution, however, the heave motion can seriously affect the operation efficiency and safety of the carrier. Offshore vessels, work platforms, therefore 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 carrying out combination to realize vertical positioning of a water surface operation carrier, but the measurement precision is only m-level. In addition, the inertial navigation system can realize all-weather, all-region and all-directional autonomous navigation by virtue of the passive characteristic, but the inertial navigation system has the problem that errors are dispersed along with the accumulation of time, particularly the inertial navigation system is vertical, and long-time navigation cannot be carried out. When the sea surface environment is severe or underwater tasks are executed, GPS signals cannot be collected, and the heave information of the water surface ship and the underwater carrier is distorted. To address this problem, kalman filtering is employed to reduce the measurement error of vertical heave, but the use of kalman filtering is complemented by: 1) the system needs to be accurately modeled, and has more error sources and is difficult to realize; 2) the workload of debugging the filtering parameters is very large; 3) the measurement accuracy is difficult to improve.
Disclosure of Invention
The technical problem of the invention is solved: the method overcomes the defects of the prior art, provides a heave measurement method based on carrier attitude information, and aims to realize high-precision measurement of the vertical heave information of the carrier when the external vertical auxiliary measurement information is not relied on.
In order to solve the technical problem, the invention discloses a heave measurement method based on carrier attitude information, which comprises the following steps:
acquiring carrier attitude information regularly; wherein the carrier attitude information comprises: roll angle theta, pitch angle gamma and yaw angle
Figure BDA0002839894740000011
At least one of;
obtaining frequency and amplitude information of the carrier fluctuating along with the sea waves according to the attitude information;
designing a filter according to the frequency and amplitude information; wherein the filter parameters of the filter comprise a passband cut-off frequency fpStopband cut-off frequency fsPassband attenuation ApStopband attenuation AsCut-off frequency omegacThe filtering order number N;
and obtaining and outputting the heave motion information of the carrier through three times of filtering and two times of integration of the vertical acceleration information of the carrier determined by the inertial navigation system.
In the heave measurement method based on the carrier attitude information, the carrier attitude information is obtained according to the period; wherein, the term 'regular' refers to acquiring new attitude information within a certain time range; the carrier attitude information includes: roll angle theta, pitch angle gamma and yaw angle
Figure BDA0002839894740000021
Including pose information given directly by the external survey or pose information determined by the navigation system.
In the above heave measurement method based on carrier attitude information, obtaining the frequency and amplitude of the carrier fluctuating with the sea waves according to the carrier attitude information includes:
the amplitude and frequency corresponding to the main resonance peak within 1Hz of the roll angle theta; and/or the presence of a gas in the gas,
amplitude and frequency corresponding to a main resonance peak within 1Hz of the pitch angle gamma; and/or the presence of a gas in the gas,
bow rocking angle
Figure BDA0002839894740000022
Amplitude and frequency corresponding to the main resonant peak within 1 Hz.
Roll angle theta, pitch angle gamma, bow angle
Figure BDA0002839894740000023
The frequency corresponding to the main peak of the internal resonance at 1Hz is the frequency of wave fluctuation; roll angle theta, pitch angle gamma, bow angle
Figure BDA0002839894740000024
The amplitude corresponding to the resonance main peak within 1Hz is the amplitude of the wave fluctuation to influence 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 fpStopband cut-off frequency fsPassband attenuation ApStopband attenuation AsCut-off frequency omegacAnd the filtering order N comprises:
step 1, a roll angle theta, a pitch angle gamma and a bow angle are measured
Figure BDA0002839894740000025
The amplitude of the resonant main peak corresponding to the minimum frequency within 1Hz of (1 Hz) determines the passband cut-off frequency impact factor according to the following formula:
Figure BDA0002839894740000031
wherein A isep、Anp、AupRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure BDA0002839894740000034
Within 1Hz of the resonant frequency, and the amplitude corresponding to the resonance main peak with the minimum resonant frequency. Kep、Knp、KupRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure BDA0002839894740000033
The passband cutoff frequency impact factor of;
step 2, calculating the cut-off frequency of the pass band according to the following formula:
fp＝Kepfep+Knpfnp+Kupfup
wherein f isep、fnp、fupRespectively a roll angle thetaPitch angle gamma and bow angle
Figure BDA0002839894740000035
Within 1Hz of the resonant frequency.
Step 3, the roll angle theta, the pitch angle gamma and the bow angle are measured
Figure BDA0002839894740000036
The amplitude corresponding to the main resonance peak with the maximum frequency within 1Hz is determined as the influence factor of the stop band cut-off frequency according to the following formula:
Figure BDA0002839894740000032
wherein A ises、Ans、AusRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure BDA0002839894740000037
The amplitude corresponding to the resonance main peak with the maximum resonance frequency within 1 Hz. Kes、Kns、KusRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure BDA0002839894740000038
The stopband cut-off frequency influencing factor of (1);
step 4, calculating the stop band cut-off frequency according to the following formula:
fs＝Kesfes+Knsfns+Kusfus
wherein f ises、fns、fusRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure BDA0002839894740000039
Maximum frequency corresponding to the main resonance peak within 1 Hz;
step 5, setting pass band attenuation ApStopband attenuation As；
Step 6, performing battDesign of Woos low-pass filter, and filter order N and cut-off frequency omega of the filter are determined according to the following formulac
Figure BDA0002839894740000041
Where f is the sampling frequency.
Step 7, according to the filtering order N and the cut-off frequency omegacDetermining a Butterworth low-pass filter transfer function Hl(s)；
Step 8, carrying out bilinear Z transformation on the filter to obtain a transfer function Hl(z)；
Step 9, determining the high-pass filter H according to the following formulah(z):
Hh(z)＝1-Hl(z)
In the above heave measurement method based on carrier attitude information, the heave motion information of the carrier is obtained and output by three-time filtering and two-time integration according to the carrier vertical acceleration information determined by the inertial navigation system, and the method includes:
step 1, obtaining vertical acceleration information according to the following formula,
Figure BDA0002839894740000042
wherein f isuThe acceleration is a vertical acceleration and the acceleration is a vertical acceleration,
Figure BDA0002839894740000045
for the attitude transformation matrix of the carrier system to the navigation system, fbSpecific force information measured by three axial accelerometers of a carrier,
Figure BDA0002839894740000043
is a harmful acceleration, g, caused by earth rotation and Coriolis accelerationnIs the gravity acceleration under the local navigation system;
step 2, according to Hh(z) determining a constant coefficient linear difference equation:
Figure BDA0002839894740000044
wherein x (n) is the signal before filtering, y (n) is the signal after filtering, bmIs Hh(z) systematic array of molecules, akIs Hh(z) a systematic array of denominators;
step 3, aiming at the vertical acceleration fuFiltering according to the difference equation y (n) to obtain ful；
Step 4, the filtered acceleration f is processedulIntegral is carried out to obtain a speed Vu；
Step 5, speed VuFiltering according to the difference equation y (n) to obtain Vul；
Step 6, the speed V after filteringulIntegrating to obtain the heave height Hu；
Step 7, for the heave height HuFiltering according to the difference equation y (n) to obtain Hul；
Step 8, outputting the heave information Hul。
The invention has the following advantages:
(1) the invention can obtain the wave characteristics of the carrier along with the sea waves in real time by periodically carrying out spectrum analysis on the attitude information of the carrier, and realizes the self-adaptive optimization design of the filter by combining the influence factors.
(2) The invention does not depend on external measurement modes such as GPS and the like, and realizes the measurement of the carrier heave movement only through the carrier attitude angle information.
(3) The existing Kalman filtering algorithm needs to accurately model the system, the accuracy of the model restricts the measurement precision, and the method of the invention does not depend on the model of the system, and only needs to design a filter by analyzing the attitude information of the carrier, thereby realizing the high-precision measurement of the carrier heave.
(4) The conventional Kalman filtering algorithm has a long filtering period and occupies large system operation resources, and the method has the advantages of high operation speed, small resource occupation and wide applicability.
Drawings
FIG. 1 is a flowchart illustrating steps of a method for heave measurement based on carrier attitude information according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of carrier heave measurement in an embodiment of the present invention;
FIG. 3 is a schematic diagram of east channel error correction in an embodiment of the present invention;
FIG. 4 is a schematic diagram of wave fluctuation characteristic results based on roll angle analysis in an embodiment of the invention;
FIG. 5 is a schematic diagram of wave motion characteristic results based on pitch angle analysis according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the wave fluctuation characteristic results based on the yaw angle analysis in the embodiment of the invention;
fig. 7 is a schematic diagram of a heave measurement result implemented by the method according to the embodiment of the present invention.
Detailed Description
One of the core ideas of the invention is as follows: and determining the characteristic of the carrier fluctuating along with the sea waves by analyzing the spectral characteristics of the attitude information of the carrier. And adaptively adjusting the parameters of the filter according to the fluctuation characteristic to realize the design of the filter. And (3) acquiring vertical acceleration information of the carrier through an inertial navigation system principle, and then acquiring heave motion information of the carrier after 3 times of filtering and 2 times of integration.
The invention is described in further detail below with reference to the following figures and specific examples:
referring to fig. 1, a flowchart illustrating steps of a heave measurement method based on carrier attitude information according to an embodiment of the present invention is shown. In this embodiment, the method for measuring heave of carrier attitude information includes:
step 101, regularly acquiring carrier attitude information.
In this embodimentIn the above description, the periodically acquiring carrier attitude data information refers to acquiring attitude information close to the real attitude of the carrier by a carrier navigation system or other attitude measurement devices in a set period, where the attitude information includes, but is not limited to: roll angle theta, pitch angle gamma and yaw angle
Figure BDA0002839894740000061
At least one of (1).
And 102, obtaining frequency and amplitude information of the carrier fluctuating along with the sea waves according to the attitude information, and designing a filter.
In this embodiment, the frequency and amplitude of the wave motion of the carrier with the sea wave are obtained by analyzing the frequency characteristics of the attitude information of the carrier, wherein the wave motion characteristics of the sea wave can be characterized by the following:
1) the amplitude and frequency corresponding to the main resonance peak within 1Hz of the roll angle theta; and/or the presence of a gas in the gas,
2) amplitude and frequency corresponding to a main resonance peak within 1Hz of the pitch angle gamma; and/or the presence of a gas in the gas,
3) bow rocking angle
Figure BDA0002839894740000062
Amplitude and frequency corresponding to the main resonant peak within 1 Hz.
Roll angle theta, pitch angle gamma, bow angle
Figure BDA0002839894740000063
The frequency corresponding to the main peak of the internal resonance at 1Hz is the frequency of wave fluctuation; roll angle theta, pitch angle gamma, bow angle
Figure BDA0002839894740000064
The amplitude corresponding to the resonance main peak within 1Hz is the amplitude of the wave fluctuation to influence the change of each attitude angle.
In this embodiment, the filter is a complementary Butterworth filter, and the filter parameters include a pass band cut-off frequency fpStopband cut-off frequency fsPassband attenuation ApStopband attenuation AsCut-off frequency omegacAnd a filtering order N. Determining a filtering parameter according to the wave fluctuation characteristic to realize filter design, wherein the specific implementation steps are as follows:
step 1, a roll angle theta, a pitch angle gamma and a bow angle are measured
Figure BDA0002839894740000073
The amplitude of the resonant main peak corresponding to the minimum frequency within 1Hz of (1 Hz) determines the passband cut-off frequency impact factor according to the following formula:
Figure BDA0002839894740000071
wherein A isep、Anp、AupRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure BDA0002839894740000074
Within 1Hz of the resonant frequency, and the amplitude corresponding to the resonance main peak with the minimum resonant frequency. Kep、Knp、KupRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure BDA0002839894740000075
The passband cutoff frequency influence factor.
For ease of understanding, the filter design is described in detail with a specific example.
Take a certain vessel a using a strapdown inertial navigation system as an example.
During the test, the ship A is moored at a wharf, and the ship body has heave motion along with the fluctuation of sea waves. Referring to fig. 2, 3 and 4, the roll angle θ, the pitch angle γ and the yaw angle of the ship a in a certain period of time are shown respectively
Figure BDA0002839894740000077
Of the spectrum of (c). Referring to Table 1, the spectral characteristics of the ship with the A attitude angle within 1Hz
TABLE 1
Figure BDA0002839894740000072
Referring to Table 1, the roll angle θ, the pitch angle γ, and the yaw angle
Figure BDA0002839894740000076
The amplitudes of the main resonance peaks corresponding to the minimum frequency within 1Hz are respectively Aep＝0.036dB/Hz、Anp＝0.00174dB/Hz、Aup11.708 dB/Hz. Obtaining a roll angle theta, a pitch angle gamma and a bow angle according to the formula
Figure BDA0002839894740000078
The passband cut-off frequency influencing factor is respectively Kep＝0.00306、Knp＝0.00015、Kup＝0.99679。
Step 2, calculating the cut-off frequency of the pass band according to the following formula:
fp＝Kepfep+Knpfnp+Kupfup
wherein f isep、fnp、fupRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure BDA0002839894740000082
Within 1Hz of the resonant frequency.
Referring to Table 1, f can be obtainedep＝0.057Hz、fnp＝0.076Hz、fupF is 0.059Hz, as shown in the above formulap＝0.058996Hz；
Step 3, the roll angle theta, the pitch angle gamma and the bow angle are measured
Figure BDA0002839894740000083
The amplitude corresponding to the main resonance peak with the maximum frequency within 1Hz is determined as the influence factor of the stop band cut-off frequency according to the following formula:
Figure BDA0002839894740000081
wherein A ises、Ans、AusRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure BDA0002839894740000084
The amplitude corresponding to the resonance main peak with the maximum resonance frequency within 1 Hz. Kes、Kns、KusRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure BDA0002839894740000085
The stopband cut-off frequency of (a).
Referring to Table 1, the roll angle θ, the pitch angle γ, and the yaw angle
Figure BDA0002839894740000086
Within 1Hz, the amplitude values corresponding to the resonance main peak of the maximum frequency are respectively Aes＝0.02dB/Hz、Ans＝0.004dB/Hz、Aus＝0.15dB/Hz。
Obtaining a roll angle theta, a pitch angle gamma and a bow angle according to the formula
Figure BDA0002839894740000087
The stopband cut-off frequency influence factor is Kes＝0.1149、Kns＝0.02299、Kus＝0.86211。
Step 4, calculating the stop band cut-off frequency according to the following formula:
fs＝Kesfes+Knsfns+Kusfus
wherein f ises、fns、fusRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure BDA0002839894740000088
Within 1Hz of the resonant frequency.
Referring to Table 1, f can be obtainedes＝0.46452Hz、fns＝0.46424Hz、fusF is 0.46673Hz according to the above formulas＝0.4663Hz；
Step 5, setting pass band attenuation ApStopband attenuation As(ii) a The pass band attenuation A is set in this embodimentp3 stop band attenuation as＝20。
Step 6, designing a Butterworth low-pass filter, and determining the filtering order N and the cut-off frequency omega of the filter according to the following formulac
Figure BDA0002839894740000091
Where f is the sampling frequency.
According to the present embodiment, the sampling frequency f is 200Hz, and N is 2, ω calculated according to the above formulac＝0.0093Hz；
Step 7, according to the filtering order N and the cut-off frequency omegacDetermining a Butterworth low-pass filter transfer function Hl(s)。
According to the present specific example of the invention,
Figure BDA0002839894740000092
step 8, carrying out bilinear Z transformation on the filter to obtain a transfer function Hl(z)。
According to the present specific example of the invention,
Figure BDA0002839894740000093
step 9, determining the high-pass filter H according to the following formulah(z):
Hh(z)＝1-Hl(z)
According to the present specific example of the invention,
Figure BDA0002839894740000094
and 103, obtaining and outputting the heave motion information of the carrier through three times of filtering and two times of integration on the vertical acceleration information of the carrier.
Referring to fig. 5, a flowchart of steps of obtaining and outputting heave motion information of a carrier through triple filtering and twice integration on 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, as shown in the following formula:
Figure BDA0002839894740000095
wherein f iseEast acceleration, fnIs the north acceleration, fuThe acceleration is a vertical acceleration and the acceleration is a vertical acceleration,
Figure BDA0002839894740000096
for the attitude transformation matrix of the carrier system to the navigation system, fbSpecific force information measured by three axial accelerometers of a carrier,
Figure BDA0002839894740000101
is a harmful acceleration caused by earth rotation and coriolis acceleration, wherein,
Figure BDA0002839894740000102
the projection angular velocity of the earth relative to the inertial system in the navigation system,
Figure BDA0002839894740000103
is the projected angular velocity, V, of the carrier in the navigation system relative to the earth systemenAs carrier velocity, gnIs the gravity acceleration under the local navigation system;
step 2, according to Hh(z) determining constant coefficient linear difference equation
Figure BDA0002839894740000104
Wherein x (n) is the signal before filtering, y (n) is the signal after filtering, bmIs Hh(z) systematic array of molecules, akIs Hh(z) systematic array of denominators.
According to this embodiment, the linear difference equation
y(n)＝1.999934321y(n-1)-0.999934324y(n-2)+0.9999999995x(n)-1.9999343228x(n-1)+0.999934323x(n-2)；
Step 3, aiming at the vertical acceleration fuFiltering according to the difference equation y (n) to obtain ful；
Step 4, the filtered acceleration f is processedulIntegral is carried out to obtain a speed Vu；
Step 5, speed VuFiltering according to the difference equation y (n) to obtain Vul；
Step 6, the speed V after filteringulIntegrating to obtain the heave height Hu；
Step 7, for the heave height HuFiltering according to the difference equation y (n) to obtain Hul；
Step 8, outputting the heave information Hul。
The invention preferably obtains the heave information by three-time filtering and two-time integration, and if the filtering times are two, the filtering in the step 3 is omitted, and the speed is obtained by directly integrating.
According to the specific example, heave measurements were obtained using the method of the invention fig. 6. When auxiliary measuring devices such as a GPS are absent, a heave measurement result is obtained without using the method of the invention, and the like, and is shown in a figure 7. As is apparent from a comparison of fig. 6 with fig. 7, the change in heave of the carrier can be accurately measured using the method of the present invention.
In summary, in the heave measurement method based on the carrier attitude information according to the embodiment of the present invention, the wave fluctuation characteristic is determined by periodically analyzing the carrier attitude angle spectrum characteristic, and then the filter parameter is determined, so as to finally realize the accurate measurement of the carrier heave. Compared with the existing integrated navigation system, the integrated navigation system does not depend on external heave measurement devices such as a GPS (global positioning system) and the like, and has higher measurement reliability; compared with the existing Kalman filtering algorithm, the method does not depend on system modeling precision, improves the measurement precision, occupies small system operation resources, has high operation speed and has wide applicability. In addition, when the wave fluctuation characteristics of the sea waves change, the invention can automatically adjust the parameters of the filter, thereby improving the measurement precision and reliability.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.

Claims (10)

1. A heave measurement method based on carrier attitude information is characterized by comprising the following steps:
acquiring carrier attitude information regularly; wherein the carrier attitude information comprises: roll angle theta, pitch angle gamma and yaw angle
Figure FDA0002839894730000011
At least one of;
obtaining frequency and amplitude information of the carrier fluctuating along with the sea waves according to the attitude information; the frequency and amplitude information of the carrier fluctuating along with the sea waves comprises: the amplitude and frequency corresponding to the main resonance peak within 1Hz of the roll angle theta; and/or, the amplitude and frequency corresponding to the main resonance peak within 1Hz of the pitch angle gamma; and/or, a yaw angle
Figure FDA0002839894730000012
The amplitude and frequency corresponding to the main resonance peak within 1 Hz;
designing a filter according to the frequency and amplitude information;
and obtaining the heave motion information of the carrier through at least twice filtering and twice integration according to the vertical acceleration information of the carrier.
2. The method of claim 1, wherein the carrier attitude information is acquired periodically; the fixed period refers to acquiring new attitude information within a preset certain time range; including pose information given directly by external measurements or pose information determined by the navigation system.
3. The method of claim 1, wherein filter design is performed based on the frequency and amplitude information; wherein the filter parameters of the filter comprise a passband cut-off frequency fpStopband cut-off frequency fsPassband attenuation ApStopband attenuation AsCut-off frequency omegacAnd the filter order N comprises the following design steps:
step 1, respectively according to a roll angle theta, a pitch angle gamma and a yaw angle
Figure FDA0002839894730000013
Determining the amplitude corresponding to the resonance main peak of the minimum frequency and the maximum frequency within 1Hz, and determining the roll angle theta, the pitch angle gamma and the yaw angle
Figure FDA0002839894730000014
The passband cutoff frequency influencing factor and the stopband cutoff frequency influencing factor;
step 2, calculating and calculating the cut-off frequency f of the pass band by respectively utilizing the cut-off frequency influence factor of the pass band and the cut-off frequency influence factor of the stop bandpAnd stop band cut-off frequency fs；
Step 3, setting pass band attenuation ApStopband attenuation As；
Step 4, designing a Butterworth low-pass filter, and determining the filtering order N and the cut-off frequency omega of the filterc；
Step 5, according to the filtering order N and the cut-off frequency omegacDetermining a Butterworth low-pass filter transfer function Hl(s)；
Step 6, carrying out bilinear Z transformation on the filter to obtain a transfer function Hl(z)；
Step 7, determining a high-pass filter H according to the following formulah(z)：Hh(z)＝1-Hl(z)。
4. A method according to claim 3, characterized in that the roll angle θ, the pitch angle γ and the yaw angle γ are determined by a computer
Figure FDA0002839894730000021
The passband cut-off frequency influence factor calculation formula is as follows:
Figure FDA0002839894730000022
wherein A isep、Anp、AupRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure FDA0002839894730000023
The amplitude corresponding to the resonance main peak with the minimum resonance frequency within 1 Hz; kep、Knp、KupRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure FDA0002839894730000024
The passband cutoff frequency influence factor.
5. Method according to claim 3 or 4, characterized in that the passband cut-off frequency fpThe calculation formula is as follows:
fp＝Kepfep+Knpfnp+Kupfup
wherein f isep、fnp、fupRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure FDA0002839894730000025
Within 1Hz of the resonant frequency.
6. A method according to claim 3, characterized in that the roll angle θPitch angle gamma and bow angle
Figure FDA0002839894730000027
The calculation formula of the stopband cut-off frequency influence factor is as follows:
Figure FDA0002839894730000026
wherein A ises、Ans、AusRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure FDA0002839894730000031
The amplitude corresponding to the resonance main peak with the maximum resonance frequency within 1 Hz; kes、Kns、KusRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure FDA0002839894730000032
The stopband cut-off frequency of (a).
7. A method according to claim 3 or 6, characterized in that the stopband cut-off frequency f is calculated according to the following equations：
fs＝Kesfes+Knsfns+Kusfus
Wherein f ises、fns、fusRespectively a roll angle theta, a pitch angle gamma and a yaw angle
Figure FDA0002839894730000033
Within 1Hz of the resonant frequency.
8. The method of claim 1, wherein the heave motion information of the carrier is obtained by three times of filtering and two times of integrating.
9. The method of claim 8, wherein the heave motion information for the carrier is obtained by:
step 1, high pass filter H according to designh(z) determining a constant coefficient linear difference equation;
step 3, aiming at the vertical acceleration fuFiltering according to a difference equation y (n) to obtain an acceleration ful；
Step 4, the filtered acceleration f is processedulIntegral is carried out to obtain a speed Vu；
Step 5, speed VuFiltering according to the difference equation y (n) to obtain Vul；
Step 6, the speed V after filteringulIntegrating to obtain the heave height Hu；
Step 7, for the heave height HuFiltering according to a difference equation y (n) to obtain heave information Hul。
10. The method of claim 1 or 9, wherein the vertical acceleration information is obtained according to the following formula,
Figure FDA0002839894730000034
wherein f isuThe acceleration is a vertical acceleration and the acceleration is a vertical acceleration,
Figure FDA0002839894730000035
for the attitude transformation matrix of the carrier system to the navigation system, fbSpecific force information measured by three axial accelerometers of a carrier,
Figure FDA0002839894730000036
is a harmful acceleration, g, caused by earth rotation and Coriolis accelerationnIs the gravitational acceleration under the local navigation system.
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