舰船波浪中航行时的变形分析及其IMU实时测量方法  

Deformation analysis and IMU-based real-time measuring method for big ship sailing in wave

作　　者：戴洪德[1] 柳爱利[1] 卢建华[1] 戴邵武[1] 孙玉玉[2] 

机构地区：[1]海军航空工程学院控制工程系,烟台264001 [2]海军航空工程学院干部处,烟台264001

出　　处：《中国惯性技术学报》2014年第3期327-332,共6页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(61203168);博士后(2013m532173);航空基金(20135184007)

摘　　要：大型舰船在水面上航行过程由于波浪的作用会产生一定的变形,该变形会降低舰船上姿态信息的精度,影响舰载武器系统的作战效能,针对这一问题,首先对舰船的变形进行理论分析,计算舰船所承受的波浪载荷,将波浪载荷加载到舰船的有限元模型,经计算得到的甲板各节点的角位移及线位移信息,以此来分析舰船的变形。在舰船的关键战位点安装由陀螺仪和加速度计组成的惯性测量单元(IMU),将IMU的输出信息与舰船主惯导的输出信息进行匹配,设计舰船变形估计的卡尔曼滤波器,实时估计IMU安装处的甲板变形角,为舰载武器装备提供准确的局部姿态信息,实验结果证明了所提方法的有效性。A large ship always occurs deformation when sailing in water because of the wave load, which will degrade the accuracy of attitude information on the ship and affect the efficiency of the shipboard weapons. Aiming at this problem, the ship’s deformation is analyzed theoretically, and the ship’s wave load is computed, then by loading the computed wave onto the finite element model, the angular displacement and linear displacement can be achieved by calculation. The IMU(Inertial Measurement Unit), which is composed by gyros and accelerators, are installed in the key battle point of the ship, and the output of the IMU are matched with the main inertial navigation system of ship to estimate the deformations in real-time. Besides, a Kalman filter is designed for real-time estimating the deformation angle of the ship deck where the IMU is installed, and providing accurate locale attitude for shipboard weapons. The experiment results verify the availability of the presented method.

关 键 词：变形 波浪载荷 有限元 惯性测量单元 卡尔曼滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]