光电工程, 2019, 46 (1): 180556, 网络出版: 2019-01-18
基于激光陀螺组合体的船体角形变测量方法
Ship angular flexure measurement method based on ring laser gyro units
角变形 环形激光陀螺 卡尔曼滤波 随机游走 准静态变形模型 angular flexure ring laser gyro Kalman filter random walk quasi-static flexure model
摘要
本文提出了一种新的改进的姿态匹配方法用于激光陀螺组合体测量船体角变形, 该方法的Kalman滤波观测量直接包括待测的船体角形变和“相对姿态误差”项, “相对姿态误差”项对单个激光陀螺组合体的陀螺零偏不敏感, 主要源自于两套激光陀螺组合体的陀螺漂移差值和初始船体角形变。此外, 考虑到船体静态角形变的缓变特征, 船体静态变形角速度可建模为随机游走过程。仿真结果表明, 本文提出的简化的姿态匹配方法能跟踪日照引起的准静态缓变角变形和船体机动等因素引起的短周期大幅角变形。该方法也经过了多条舰船的实船试验验证, 船体角变形的测量精度优于20″。
Abstract
For ship angular flexure measurement based on the ring laser gyro units, a simplified attitude matching method has been proposed, where the Kalman filter observation provides direct measurement of the desired ship angular flexure plus the ‘relative attitude’ term. The ‘relative attitude’, insensitive to the gyro biases of each LGU, arises from the gyro bias difference and initial ship angular flexure. Additionally, considering its slow-varying characteristics, the angular rate of the quasi-static angular flexure should be modeled as random walks. Numerical simulations validate that the simplified attitude matching method can track both the slow-varying angular flexure caused by sunshine heating and the short-time large-magnitude angular flexure caused by factors such as helm’s operation. According to full-scale experiments in several actual ships, the proposed method can reach an accuracy of 20″.
郑佳兴, 戴东凯, 吴伟, 周金鹏. 基于激光陀螺组合体的船体角形变测量方法[J]. 光电工程, 2019, 46(1): 180556. Zheng Jiaxing, Dai Dongkai, Wu Wei, Zhou Jinpeng. Ship angular flexure measurement method based on ring laser gyro units[J]. Opto-Electronic Engineering, 2019, 46(1): 180556.