角速度匹配法测量船体形变模型优化方法研究

摘要

Accurate measurement of hull deformation is of great significance in efforts to optimize large hull structure de-signs,monitor the hull health condition and establish the unified space benchmark of the ship.Methods of inertial measurement matching based on inertial sensors are development trend of hull deformation measurement.In view of the slow-varying characteristic of ship static deformation angular,A quasi-static deformation angular model, which uses A first-order Markov process to describe the slow-varying characteristic of static deformation angular is introduced on the basis of tradition-al angular velocity matching method.Then,the new filter model is introduced and simulated. The simulation results indicate that the traditional angular velocity matching method can not estimate the quasi-static deformation angle,whereas the opti-mized deformation model can track the quasi-static deformation process well and with a good estimation precision.%船体形变的精确测量对于优化大型船舶结构设计、船体健康状态监控以及建立全舰统一空间基准都具有非常重要的现实意义,基于惯性传感器的惯性测量匹配法是船体形变测量研究的发展趋势.针对舰船静态形变角缓慢变化的特点,在传统角速度匹配法的基础上引入"准静态"模型,采用白噪声驱动的一阶Markov过程模拟静态形变角速度缓慢变化的过程,给出了新的滤波方程并进行了仿真验证.仿真结果表明,当船体静态形变处于缓慢变化过程时,传统的角速度匹配法无法估计出"准静态"形变大小,而优化的静态形变模型不仅可以稳定跟踪"准静态"形变过程,并且保持了较高的估计精度.