公开(公告)号：US12061087B2

公开(公告)日：2024-08-13

申请号：US17846128

申请日：2022-06-22

Applicant: Harbin Engineering University

Inventor： Yuxin Zhao ,  Tingxiao Wei ,  Yueyang Ben ,  Lei Wu ,  Qian Li ,  Guangtao Zhou ,  Qianqian Gao ,  Xiaofeng Wei ,  Shuaiyang Li

IPC: G01C21/20 ,  G01C21/16

CPC classification number: G01C21/203 ,  G01C21/16

Abstract: A strapdown inertial navigation heave measurement method using multiple low-pass filter units includes: firstly, collecting data of a gyroscope and an accelerometer by a system, obtaining attitude information of a carrier by using initial alignment, and then, obtaining a relationship matrix between a body coordinate system and a geographic coordinate system by using the attitude information; obtaining a relationship matrix between the geographic coordinate system and a reference coordinate system according to a geographic position, and obtaining a rough vertical acceleration by using a direction cosine matrix, output information of the accelerometer and gravity information; then, filtering out low-frequency signals by using a first filter unit and integration to obtain a relatively accurate velocity signal; and furthermore, enabling the vertical acceleration to be subjected to a second filter unit and integration to obtain an accurate heave displacement.

公开(公告)号：US20220326019A1

公开(公告)日：2022-10-13

申请号：US17846128

申请日：2022-06-22

Applicant: Harbin Engineering University

Inventor： Yuxin Zhao ,  Tingxiao Wei ,  Yueyang Ben ,  Lei Wu ,  Qian Li ,  Guangtao Zhou ,  Qianqian Gao ,  Xiaofeng Wei ,  Shuaiyang Li

IPC: G01C21/20 ,  G01C21/16

Abstract: The disclosure discloses a strapdown inertial navigation heave measurement method using multiple low-pass filter units, including: firstly, collecting data of a gyroscope and an accelerometer by a system, obtaining attitude information of a carrier by using initial alignment, and then, obtaining a relationship matrix between a body coordinate system and a geographic coordinate system by using the attitude information; obtaining a relationship matrix between the geographic coordinate system and a semi-fixed coordinate system according to a geographic position, and obtaining a rough vertical acceleration by using a direction cosine matrix, output information of the accelerometer and gravity information; then, filtering out low-frequency signals by using a double-filter unit and one integral link to obtain a relatively accurate velocity signal; and furthermore, enabling the vertical acceleration to be subjected to a triple-filter unit and two integral links to obtain an accurate heave displacement. The method avoids the problem of phase lead caused by traditional addition of high-pass filters, and can provide a reference for ship swaying reduction operations, ship carrier lifts, ship-borne weapon launch and heave compensation of various offshore platforms.