Abstract
Hull deformation is the fundamental reason that restricts the establishment of a unified attitude reference for large ships, it can be effectively measured by inertia matching method with two inertia measurement sensors. However, due to the limitation of installation location, the azimuth misalignment angle between two inertial measurement sensors(IMSs) is large, which will result in the existing inertial matching linear model no longer applicable. Therefore, the large azimuth misalignment angle is separated separately, and an IMS coordinate system is rotated virtually by this angle, then the nonlinear deformation measurement model based on attitude quaternion is established. Finally, the hull deformation is estimated by combining online neural network and nonlinear filter. Simulation results demonstrate that, the proposed method can estimate the deformation accurately with large azimuth misalignment angle.
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