System and up and down floating rate determination method and floating up and down the ship

摘要

Up and down floating rate determination method and floating up and down to determine the up and down floating rate signal and up and down floating vessel (40) is described. Inertial Navigation System (INS) (10) is provided in (40) vessels, sensors INS (10) is placed in a point A vessel (40), the reference point B of the upper and lower floating zero vessel (40) has, the method to determine the vertical velocity and vertical floating floating point C in the vessel (40). Determining the reference coordinates of the point C A vessel (40), and B,, and generates a speed signal representing the speed of a point vessels (40), the method, the upper and lower floating rate signal based on the speed signal It occurs, and to generate a floating up and down on the basis of this up and down floating rate signal.