Inertial measurement method of ship deformation based on IMM filtering

作者：Xu, Bo; Duan, Teng Hui; Wang, Yi Fei; Yin, Hong Liang

来源：Journal of Chinese Inertial Technology, 2017, 25(1): 22-27.

DOI：10.13695/j.cnki.12-1222/o3.2017.01.005

• Deformation measurements
• Development trends
• Environmental adaptability
• Inertial measurement unit
• Inertial measurements
• Interacting multiple model
• Kalman filtering method
• Matching filtering

Matching filtering algorithm based on inertial measurement unit is the development trend to overcome the deformation of ship hull. The Kalman filter requires that the system model parameters are known accurately, however the parameters of the actual ship hull deformation model are unknown or uncertain. To solve this problem, an interacting multiple model (IMM) Kalman filtering method is proposed based on "velocity plus angular velocity"model matching, and the estimated residuals of each model are used to calculate the probability of the corresponding model. Simulation results show that the proposed algorithm has such features as fast convergence, good stability and high accuracy. The accuracy of the IMM algorithm is increased by 5%~10% than that of the Kalman filter, and the convergence time is within 10 s, which improve the environmental adaptability of the system.

• 出版日期2017
• 单位哈尔滨工程大学