Abstract
Shipboard is not an absolute rigid body. Many factors could cause deformations which lead to large errors of mounted devices, especially for the navigation systems. Such errors should be estimated and compensated effectively, or they will severely reduce the navigation accuracy of the ship. In order to estimate the deformation, an unscented particle filter method for estimation of shipboard deformation based on an inertial measurement unit is presented. In this method, a nonlinear shipboard deformation model is built. Simulations demonstrated the accuracy reduction due to deformation. Then an attitude plus angular rate match mode is proposed as a frame to estimate the shipboard deformation using inertial measurement units. In this frame, for the nonlinearity of the system model, an unscented particle filter method is proposed to estimate and compensate the deformation angles. Simulations show that the proposed method gives accurate and rapid deformation estimations, which can increase navigation accuracy after compensation of deformation.
Highlights
Inertial measurement units (IMUs) are widely used in ships, aircraft and land vehicles to provide navigation information such as attitude, velocity and position [1,2]
In order to verify the efficiency of the proposed method, we present a simulation of the attitude plus angular rate match mode in aided alignment
An unscented particle filter method for estimation of shipboard deformation based on an inertial measurement unit is presented
Summary
Inertial measurement units (IMUs) are widely used in ships, aircraft and land vehicles to provide navigation information such as attitude, velocity and position [1,2]. There are two kinds of deformation, one is the long term static deformation caused by structure aging, and the other is a short term dynamic deformation The latter has limited effect on the general application of equipment, for high-accuracy INS, such an effect could cause large navigation errors, especially for the aided alignment between the main and slave INSs [8,9,10]. The Unscented Particle Filter (UPF) is a state estimation method for non-Gaussian nonlinear systems. It is a kind of particle filter using UKF to generate new particles and obtain a more important density function.
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