激光陀螺组合体自主测量船体角变形的最优估计法  

Optimal estimation of ship angular deformation for autonomous measurement by laser gyro unit

作　　者：杨云涛[1] 王省书[1] 吴伟[1] 黄宗升[1] 

机构地区：[1]国防科学技术大学光电科学与工程学院,长沙410073

出　　处：《中国惯性技术学报》2014年第3期284-287,共4页Journal of Chinese Inertial Technology

基　　金：高等学校博士点专项科研基金(博导类)(20134307110023)

摘　　要：根据激光陀螺组合体测量的角增量计算得到的惯性姿态匹配测量方程,结合动态变形模型和静态变形模型,构建了船体角变形测量的最优滤波器,实现了角变形的最优估计。该方法将角变形和激光陀螺的随机漂移误差近似为平稳随机过程并分别构建滤波器,静态变形建模为白噪声驱动的一阶随机游走过程,动态变形建模为二阶马尔可夫平稳随机过程。通过角速度匹配测量方程进行了角变形的观测性分析得知:动态变形的估计精度与激光陀螺的测量精度相当,静态变形的估计精度依赖于船体摇摆频率和幅度,因此最优估计法的误差主要为静态角变形模型的估计误差。仿真结果表明,通过设置合适的静态角变形模型参数,该最优估计法测量角变形的误差小于10"。Based on the inertial attitude matching measurement equation calculated from angular increment output of a laser gyro unit(LGU), an optimal filter for implementing ship angular deformation measurement is formed with static deformation model and dynamic flexure model. In the optimal filter, by assuming that the ship angular deformation and sensor’s error of LGU are stationary random process, the static deformation is modeled as the first order random walk process with white noise, and the dynamic flexure are modeled as second order Gaussian-Markov random process. The observability analyses of angular deformation by angular rate matching equation show that the estimation error of dynamic flexure is similar to laser gyro’s error, and estimation error of static deformation is modulated by swing frequency and amplitude of ship motions. So the estimation error of static deformation is the main factor of optimal estimation in ship angular deformation measurement. The simulations are made by setting proper parameters of static deformation model, and the results show that the estimation error of angular deformation is lower than 10? .

关 键 词：船体角变形测量 激光陀螺组合体 静态角变形模型 最优估计 

分 类 号：U666.1[交通运输工程—船舶及航道工程]