Zheng Jiaxing, Dai Dongkai, Wu Wei, et al. Ship angular flexure measurement method based on ring laser gyro units[J]. Opto-Electronic Engineering, 2019, 46(1): 180556. doi: 10.12086/oee.2019.180556
Citation: Zheng Jiaxing, Dai Dongkai, Wu Wei, et al. Ship angular flexure measurement method based on ring laser gyro units[J]. Opto-Electronic Engineering, 2019, 46(1): 180556. doi: 10.12086/oee.2019.180556

Ship angular flexure measurement method based on ring laser gyro units

    Fund Project: Supported by National Natural Science Foundation of China (61573368)
  • For ship angular flexure measurement based on the ring laser gyro units, a simplified attitude matching method has been proposed, where the Kalman filter observation provides direct measurement of the desired ship angular flexure plus the 'relative attitude' term. The 'relative attitude', insensitive to the gyro biases of each LGU, arises from the gyro bias difference and initial ship angular flexure. Additionally, considering its slow-varying characteristics, the angular rate of the quasi-static angular flexure should be modeled as random walks. Numerical simulations validate that the simplified attitude matching method can track both the slow-varying angular flexure caused by sunshine heating and the short-time large-magnitude angular flexure caused by factors such as helm's operation. According to full-scale experiments in several actual ships, the proposed method can reach an accuracy of 20″.

  • 加载中
  • [1] Titterton D H, Weston J L. Strapdown Inertial Navigation Technology[M]. London: Peter Peregrinus Ltd, 1997.

    Google Scholar

    [2] Mochalov A V, Kazantsev A V. Use of ring laser units for measurement of moving object deformations[J]. Proceedings of SPIE, 2002, 4680: 85–92. doi: 10.1117/12.454660

    CrossRef Google Scholar

    [3] Carlson N A, Kelley R T, Beming S L. Differential inertial filter for dynamic sensor alignment[C]//Proceedings of the 1994 National Technical Meeting of The Institute of Navigation, San Diego, CA, 1994: 341–351.

    Google Scholar

    [4] Kaiser J, Beck G, Berning S. Vital advanced inertial network[C]//Proceedings of the IEEE 1998 Position Location and Navigation Symposium, Palm Springs, CA, USA, 1998: 61–68.

    Google Scholar

    [5] Kelley R T, Carlson N A, Berning S. Integrated inertial network[C]//Proceedings of 1994 IEEE Position, Location and Navigation Symposium, Las Vegas, NV, USA, 1994: 439–446.

    Google Scholar

    [6] Joon L, You-Chol L. Transfer alignment considering measurement time delay and ship body flexure[J]. Journal of Mechanical Science and Technology, 2009, 23(1): 195–203. doi: 10.1007/s12206-008-0821-y

    CrossRef Google Scholar

    [7] 姜广文.像机链位姿传递摄像测量方法及船体变形测量研究[D].长沙: 国防科学技术大学, 2010.

    Google Scholar

    Jiang G W. Study on pose relay videometrics method with camera-series and ship deformations measurement[D]. Changsha: National University of Defense Technology, 2010.CNKI:CDMD:2.2010.165448

    Google Scholar

    [8] 汪顺亭, 汪湛清, 朱昀炤, 等.船体变形的监测方法及其对航向姿态信息的修正[J].中国惯性技术学报, 2007, 15(6): 635–641. doi: 10.3969/j.issn.1005-6734.2007.06.001

    CrossRef Google Scholar

    Wang S T, Wang Z Q, Zhu Y Z, et al. Monitoring on ship hull deformation and correction for heading & attitude information[J]. Journal of Chinese Inertial Technology, 2007, 15(6): 635–641. doi: 10.3969/j.issn.1005-6734.2007.06.001

    CrossRef Google Scholar

    [9] 万德钧, 刘玉锋.消减舰船变形的影响和为全舰提供高精度姿态基准[J].中国惯性技术学报, 2005, 13(4): 77–82. doi: 10.3969/j.issn.1005-6734.2005.04.019

    CrossRef Google Scholar

    Wan D J, Liu Y F. Summary on removing influence of ship deformation and providing accurate attitude references for warship[J]. Journal of Chinese Inertial Technology, 2005, 13(4): 77–82. doi: 10.3969/j.issn.1005-6734.2005.04.019

    CrossRef Google Scholar

    [10] 郑佳兴, 秦石乔, 王省书, 等.基于姿态匹配的船体形变测量方法[J].中国惯性技术学报, 2010, 18(2): 175–180.

    Google Scholar

    Zheng J X, Qin S Q, Wang X S, et al. Attitude matching method for ship deformation measurement[J]. Journal of Chinese Inertial Technology, 2010, 18(2): 175–180.

    Google Scholar

    [11] 郑佳兴, 秦石乔, 王省书, 等.考虑准静态缓变量的船体角形变测量[J].中国惯性技术学报, 2011, 19(1): 6–10.

    Google Scholar

    Zheng J X, Qin S Q, Wang X S, et al. Ship hull angular deformation measurement taking slow-varying quasi-static component into account[J]. Journal of Chinese Inertial Technology, 2011, 19(1): 6–10.

    Google Scholar

    [12] Schneider A M. Kalman filter formulations for transfer alignment of strapdown inertial units[J]. Navigation, 1983, 30(1): 72–89. doi: 10.1002/navi.1983.30.issue-1

    CrossRef Google Scholar

    [13] Day D L, Arruda J. Measuring structural flexure to improve precision tracking[J]. ADA364862, 1999.

    Google Scholar

    [14] Shin E H, El-Sheimy N. An unscented Kalman filter for in-motion alignment of low-cost IMUs[C]//Proceedings of the PLANS 2004. Position Location and Navigation Symposium, Monterey, CA, USA, 2004: 273–279.

    Google Scholar

    [15] 刘文涛, 刘洁瑜, 沈强.光纤陀螺随机误差的集成建模及滤波处理[J].光电工程, 2018, 45(10): 180082. doi: 10.12086/oee.2018.180082

    CrossRef Google Scholar

    Liu W T, Liu J Y, Shen Q. Integrated modeling and filtering of fiber optic gyroscope's random errors[J]. Opto-Electronic Engineering, 2018, 45(10): 180082. doi: 10.12086/oee.2018.180082

    CrossRef Google Scholar

  • Overview: Ship angular flexure can be segmented into quasi-static and dynamic categories, the difference being time characteristics. Experiments have shown that quasi-static flexure can reach about 1°~1.5° under sunshine heating, and the dynamic flexure may reach about several arc minutes. Consequently, the attitude of shipboard apparatus (such as radar antennas, optical systems), acquired from the central master inertial navigation system, may be corrupted significantly by the existence of ship structure angular flexure. Due to ring laser gyros' reliable performance, the ring laser gyro units (LGUs) can be applied for ship angular flexure measurement. Based on the ring laser gyro units, ship flexure measurement methods, have been developed quickly. To take the advantage of the smoothing effect of the integration process, an attitude matching method has been developed recently, where the Kalman filter observation, not defined by the angular rate difference, is derived from the two LGUs' attitude information. In addition, the model of the ship quasi-static angular flexure has been developed as well, considering the slow-varying characteristic, modeling quasi-static flexure as random constants seems too rough, where its variation may be coupled into other state variables, influencing the measurement accuracy significantly, the angular rate of the quasi-static angular flexure should be modeled as random walks.

    Here For ship angular flexure measurement based on the ring laser gyros, a new simplified attitude matching method has been proposed in this paper. The Kalman filter observation provides direct measurement of the desired ship angular flexure plus the 'relative attitude', and the propagation of the 'relative attitude', insensitive to the gyro biases of each LGU, mainly depend on the gyro bias difference and initial ship flexure.

    Additionally, considering its slow-varying characteristics, quasi-static flexure may not be modeled as random constants anymore, the angular rate of which may be modeled as random walks. Based on the 'relative attitude' attitude matching method and the 'random walks' model for the angular rate of quasi-static flexure, the state-space dynamic model for Kalman filtering has been developed as well. Numerical simulations validate that the new simplified attitude matching method can track both the slow-varying angular flexure caused by sunshine heating and the short-time large-magnitude angular flexure caused by factors such as helm's operation. According to full-scale experiments in several actual ships, the proposed method can reach an accuracy of 20".

  • 加载中
通讯作者: 陈斌, bchen63@163.com
  • 1. 

    沈阳化工大学材料科学与工程学院 沈阳 110142

  1. 本站搜索
  2. 百度学术搜索
  3. 万方数据库搜索
  4. CNKI搜索

Figures(8)

Article Metrics

Article views(22931) PDF downloads(2358) Cited by(0)

Access History

Other Articles By Authors

Article Contents

Catalog

    /

    DownLoad:  Full-Size Img  PowerPoint