The invention discloses a ship heaving motion measurement method based on adaptive filtering. The method comprises the following steps: acquiring output data of each axis gyroscope and accelerometer of an inertial measurement unit in real time; the ship heaving motion acceleration and the acceleration of the Nth point in the ship heaving direction under the geographic coordinate system are obtained; fFT is carried out on the ship heaving acceleration information, and then the fundamental wave frequency and the wave height of heaving displacement are determined; the filter error and the sensor error are analyzed, and when the error function is the minimum value, the self-adaptive cut-off frequency is obtained; designing a transfer function of an analog high-pass filter according to the adaptive cut-off frequency; an analog low-pass filter is obtained through a complementary idea; and filtering the acceleration, the speed and the displacement for three times by using a time-delay-free digital high-pass filter, and outputting the heaving motion and displacement information of the ship in real time. According to the self-adaptive time-delay-free high-pass digital filter, self-adaptive adjustment can be carried out on the cut-off frequency according to various sea conditions, and the heave displacement error is minimum in combination with a complementary idea.
本发明公开了一种基于自适应滤波的舰船升沉运动测量方法,实时采集惯性测量单元的各轴陀螺仪和加速度计的输出数据;得到地理坐标系下舰船升沉运动加速度和第N点的舰船垂荡方向的加速度;对舰船升沉加速度信息做FFT,进而确定升沉位移的基波频率和波高;对滤波器误差和传感器误差进行分析,当误差函数为最小值时得到自适应截止频率;根据自适应截止频率设计模拟高通滤波器的传递函数;通过互补的思想,得到模拟低通滤波器;利用无时延数字高通滤波器对加速度、速度、位移进行三次滤波并实时输出舰船升沉运动和位移信息。本发明能够根据各种海况对截止频率进行自适应调整并结合互补的思想的自适应无时延高通数字滤波器,使得升沉位移误差最小。
Ship heaving motion measuring method based on adaptive filtering
一种基于自适应滤波的舰船升沉运动测量方法
2023-04-11
Patent
Electronic Resource
Chinese
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