考虑旋转调制INS轴角误差的船体变形测量方法  

Measurement method of hull deformation considering rotation modulation INS shaft angle error

作　　者：刘为任 高阳[2] 赵坤 孙伟强 周海渊 LIU Weiren;GAO Yang;ZHAO Kun;SUN Weiqiang;ZHOU Haiyuan(Marine Support Technology of China,Tianjin 300131,China;Tianjin Navigation Instrument Research Institute,Tianjin 300131,China;Technology Department,Satellite Maritime Measurement and Control Department of China,Jiangyin 214431,China)

机构地区：[1]中国船舶航海保障技术实验室,天津300131 [2]天津航海仪器研究所,天津300131 [3]中国卫星海上测控部,江阴214431

出　　处：《中国惯性技术学报》2022年第1期1-8,共8页Journal of Chinese Inertial Technology

基　　金：创新特区重点项目(20-XXX-04-ZD-024-004-01)。

摘　　要：旋转调制式惯导已成为舰船主惯导,在采用旋转调制式惯导进行船体变形角测量时,由于旋转轴与惯性测量组件的坐标系不完全重合,导致船体变形角中被引入与旋转相关的波动误差。针对这一问题,提出了考虑旋转调制惯导转轴倾角误差的船体变形测量方法。推导了单轴旋转系统转轴倾角误差与船体变形测量之间的数学关系,构建了含有轴角误差的状态观测数学模型,利用卡尔曼滤波器实现了船体变形测量的同时对转轴倾角进行估计。实验结果表明,所提方法可以估计出旋转调制惯导中存在的转轴倾角大小,有效提高测得船体变形角精度,其中水平方向提升到6″,纵向方向提升到6″,为利用旋转调制式惯导进行船体变形测量提供参考。At present,rotation modulation inertial navigation system has become the main form of ship inertial navigation.When the rotation modulation INS is used to measure the hull deformation angle,the rotation related fluctuation error is introduced into the hull deformation angle due to the incomplete coincidence of the rotation axis and the coordinate system of the inertial measurement component.In order to solve this problem,a measurement algorithm of the hull deformation considering shaft angle error of rotation modulation INS is proposed,the mathematical relationship between the shaft inclination error on the single axis rotating system and the hull deformation measurement is derived,and the state observation mathematical model of the shaft angle error is constructed.The hull deformation is measured and the inclination of the shaft is estimate by using Kalman filter.The experimental results show that the proposed method can estimate the inclination of the shaft in the rotation modulation inertial navigation,effectively improve the accuracy of the hull deformation measurement using the rotation modulation inertial navigation,in which the horizontal direction is improved to 6"and the vertical direction is improved to 6",providing a reference for hull deformation measurement using the rotation modulation INS.

关 键 词：单轴旋转调制 转轴倾角 船体变形测量 惯性量匹配法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]