基于激光陀螺组合体的船体角形变测量方法

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″.

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关键词：

角变形; 环形激光陀螺; 卡尔曼滤波; 随机游走; 准静态变形模型

基金项目：

国家自然科学基金资助项目(61573368)

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引用本文：郑佳兴，戴东凯，吴伟，等. 基于激光陀螺组合体的船体角形变测量方法[J]. 光电工程, 2019, 46(1): 180556.

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2019年第01期

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