考虑准静态缓变量的船体角形变测量

摘要

针对船体静态角形变缓慢变化的特征,在Mochalov船体角形变理论和姿态匹配算法的基础上,提出了一种用角速度的一阶Markov过程来描述静态角形变缓慢变化行为的方法,考虑到静态形变角速度变化较慢、相关时间较长的实际情况,一阶Markov过程可进一步简化为随机游走过程.仿真结果表明,视"准静态"角形变为常量的Mochalov角形变模型无法跟踪"准静态"角形变的缓慢变化,精度较差;而新的形变模型不仅能够跟踪缓慢变化的"准静态"角形变,对于转舵等因素引起的短时大幅角形变也同样有效,总形变测量精度优于30″(RMS),这为激光陀螺船体形变测量技术进入工程应用打下了基础.%In view of the slow-varying characteristic of ship quasi-static angular deformation, a new quasi-static angular deformation model is put forward based on the attitude matching method and Mochalov's angular deformation theories.In the new model, the angular velocity of quasi-static angular deformation is modeled as a first-order Markov process.Considering that the angular velocity varies slowly and the relative time is long, the model can be further simplified as a random walk process.Simulation results show that the Mochalov's angular deformation model using constant quasi-static angular deformation can not track the slow-varying deformation, and with lower measurement accuracy, whereas the new model is effective to track both the slow-varying deformation and short-time large-amplitude deformation caused by the factors such as ship turning, and the simulated measurement precision can be better than 30"(RMS), which lays the sound fundation for actual application of ship deformation measurement based on the LGUs.