| Citation: | LU Daohua, FU Huaida, WANG Jia, et al. Measurement method of ship's heave motion information based on IMU and UKF algorithm[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(7): 1323-1331. doi: 10.13700/j.bh.1001-5965.2020.0223(in Chinese)
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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.
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