异步传感器在动力定位测量过程中的应用  

Application of asynchronous sensor in dynamic positioning measurement process

作　　者：张燕[1] 史汝川 曹婷 ZHANG Yan;SHI Ruchuan;CAO Ting(School of Information Engineering,Nanyang Institute of Technology,Nanyang 473004,China;College of Perception Scienceand Engineering,Shanghai Jiaotong University,Shanghai 200240,China)

机构地区：[1]南阳理工学院信息工程学院,河南南阳473004 [2]上海交通大学感知科学与工程学院,上海200240

出　　处：《舰船科学技术》2025年第4期182-185,共4页Ship Science and Technology

基　　金：河南省科技攻关项目(22102210206);南阳理工学院教育教学改革项目(NIT2023JY-040)。

摘　　要：船舶动力定位需要依赖传感器数据,但这些数据存在时间不同步的问题。本文提出一种时间戳对准方法,介绍数据滤波技术,研究基于加权平均法和卡尔曼滤波的异步传感器信息融合技术,提出一种融合CV、CA、CT模型的IMM模型,在直线加速、急转弯2种工况下对4种模型进行仿真测试,测试结果表明,线性加速工况下,CA模型定位测量误差优于其他模型,在急转弯工况下,IMM模型的定位测量误差较小,且收敛速度快。Ship dynamic positioning needs to rely on sensor data,but these data have the problem of time asynchron-ism.This paper proposes a time-stamp alignment method,introduces the data filtering technology,studies the asynchronous sensor information fusion technology based on weighted average method and Kalman filter,and proposes an IMM model in-tegrating CV,CA and CT models.Simulation tests are carried out on four models under two working conditions of linear ac-celeration and sharp turning.The test results show that:the positioning error of CA model is better than that of other models under linear acceleration condition,and the positioning error of IMM model is smaller and the convergence speed is faster under sharp turning condition.

关 键 词：IMM 异步传感器 信息融合 动力定位测量 

分 类 号：U664[交通运输工程—船舶及航道工程]