北京航空航天大学学报 ›› 2021, Vol. 47 ›› Issue (7): 1323-1331.doi: 10.13700/j.bh.1001-5965.2020.0223

• 论文 • 上一篇    下一篇

基于IMU与UKF的船舶升沉运动信息测量方法

卢道华1,2, 付怀达1, 王佳1, 蔡雅轩1, 宋世磊1   

  1. 1. 江苏科技大学 机械工程学院, 镇江 212003;
    2. 江苏科技大学 海洋装备研究院, 镇江 212003
  • 收稿日期:2020-05-27 发布日期:2021-08-06
  • 通讯作者: 卢道华 E-mail:ludaohua_just@126.com
  • 基金资助:
    国家重点研发计划(2018YFC0309100)

Measurement method of ship's heave motion information based on IMU and UKF algorithm

LU Daohua1,2, FU Huaida1, WANG Jia1, CAI Yaxuan1, SONG Shilei1   

  1. 1. School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, China;
    2. Marine Equipment and Technology Institute, Jiangsu University of Science and Technology, Zhenjiang 212003, China
  • Received:2020-05-27 Published:2021-08-06
  • Supported by:
    National Key R & D Program of China (2018YFC0309100)

摘要: 为获取实时、精确的船舶升沉运动信息,根据船舶升沉运动模型和频谱分析方法,建立描述惯性测量单元(IMU)的加速度测量信息与船舶升沉运动状态量关系的解析模型。基于无迹卡尔曼滤波(UKF)算法非线性滤波的特点,进行升沉运动滤波解算。通过仿真分析证明了所提方法在船舶升沉运动测量中的有效性。利用三自由度平台升沉运动测量实验验证,结果表明,同一模型下,相比于扩展卡尔曼滤波(EKF)算法的解算结果,所提方法具有更快的收敛速度和更高的测量精度;对船舶升沉位移的估计精度达到最大升沉幅值的5%,可以得到精确、无时延的船舶升沉运动信息。

关键词: 升沉测量, 惯性测量单元(IMU), 无迹卡尔曼滤波(UKF), 频谱分析, 平台实验

Abstract: To obtain accurate estimation of ship heave motion information in real time, according to the ship heave kinematics model and spectral analysis method, an analytical model describing the relationship between the acceleration measurement information of the Inertial Measurement Unit (IMU) and the ship heave motion state quantity was established. Based on the characteristics of Unscented Kalman Filter (UKF) nonlinear filtering algorithm, the heave motion filtering solution is performed. Simulation analysis proves the effectiveness of the proposed algorithm in ship heave motion measurement. The experimental verification of the three-degree-of-freedom platform heave motion measurement is performed. The experimental results show that, compared with the solution of the Extended Kalman Filter (EKF) method, the algorithm in this paper has faster convergence speed and higher measurement accuracy; the estimation accuracy of the ship's heave displacement reaches 5% of the maximum heave amplitude, and accurate and no-delay ship heave motion information can be obtained.

Key words: heave measurement, Inertial Measurement Unit (IMU), Unscented Kalman Filter (UKF), spectral analysis, platform experiment

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