基于IMU与UKF的船舶升沉运动信息测量方法

卢道华; 付怀达; 王佳; 蔡雅轩; 宋世磊

doi:10.13700/j.bh.1001-5965.2020.0223

基于IMU与UKF的船舶升沉运动信息测量方法

doi: 10.13700/j.bh.1001-5965.2020.0223

卢道华^{1, 2, ,},
付怀达¹,
王佳¹,
蔡雅轩¹,
宋世磊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

基金项目:

国家重点研发计划 2018YFC0309100

详细信息

通讯作者:
卢道华. E-mail: ludaohua_just@126.com

中图分类号: U666.1
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- 被引次数: 0
出版历程
- 收稿日期: 2020-05-27
- 录用日期: 2020-08-21
- 网络出版日期: 2021-07-20

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

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

Funds:

National Key R & D Program of China 2018YFC0309100

More Information

Corresponding author: LU Daohua. E-mail: ludaohua_just@126.com

摘要

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。
- 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.
- heave measurement /
- Inertial Measurement Unit (IMU) /
- Unscented Kalman Filter (UKF) /
- spectral analysis /
- platform experiment

HTML全文

图 1 船舶升沉运动测量原理

Figure 1. Schematic diagram of ship's heave motion measurement

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图 2 捷联解算船舶升沉位移

Figure 2. Strapdown calculation of ship heave displacement

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图 3 船舶升沉运动估计算法流程

Figure 3. Ship heave motion estimation algorithm flowchart

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图 4 模拟船舶升沉运动幅频曲线

Figure 4. Amplitude frequency curve of simulatedship heave motion

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图 5 升沉加速度仿真数据

Figure 5. Simulation data of heave acceleration

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图 6 升沉加速度零偏估计仿真结果

Figure 6. Simulation results of zero bias estimation of heave acceleration

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图 7 升沉速度测量仿真结果

Figure 7. Simulation results of heave speed measurement

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图 8 升沉位移测量仿真结果

Figure 8. Simulation results of heave displacement measurement

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图 9 升沉运动信息测量实验装置

Figure 9. Heave motion information measuring experimental device

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图 10 升沉加速度

Figure 10. Heave acceleration

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图 11 升沉速度滤波标准差

Figure 11. Standard deviation of heave motion speed filter

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图 12 升沉位移滤波标准差

Figure 12. Standard deviation of heave motion displacement filter

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图 13 升沉速度测量实验结果

Figure 13. Experimental results of heave speed measurement

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图 14 升沉位移测量实验结果

Figure 14. Experimental results of heave displacementmeasurement

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图 15 升沉位移估计误差

Figure 15. Heave displacement estimation error

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