摘要

The study presents a mathematical model of ship wave movement after the coordinate system of ship wave movement being introduced. On the basis of the changing rules between acceleration values in the hull coordinates and the ground coordinates, a method to measure the initial velocity is put forth by means of the ultrasonic Doppler shift principle is developed. The measurement system of ship wave movement is set up using 9 gyro-free accelerometers. Because inertia measurement system and accelerometer array are adopted, the newly developed system has many advantages such as very small interference, strong and real-time information, low cost sensor, light weight, little energy consumption, and high capability of shock resistance and temperature.

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