一种基于定位和姿态数据确定试验船质心的方法
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摘要
针对试验舰质心确定困难问题,提出了一种基于定位和姿态数据的试验舰质心确定方法。通过建立试验舰姿态与传感器中心诱导升沉的关系,推导出了试验舰锚泊状态下质心在船固坐标系中位置的解算模型。实验结果表明,采用本方法进行试验舰质心确定不需添测深仪以外的设备,确定的试验舰质心具有较高的精度,能明显地提高舰载无人飞行器惯导对准效率。
In this paper,a method of determination of the centroid of test vessels is proposed.Through the relationship construction between the vessel attitude and the induced heave of the GPS-RTK,the position of certroid in the hull oriented coordinate system is obtained under static state.The simulated results show that the calculations are consistent well with the true values of vessel certroid and the new developed approach works well.The method can also improve the initial alignment efficiency of unmanned aerial vehicle.
In this paper,a method of determination of the centroid of test vessels is proposed.Through the relationship construction between the vessel attitude and the induced heave of the GPS-RTK,the position of certroid in the hull oriented coordinate system is obtained under static state.The simulated results show that the calculations are consistent well with the true values of vessel certroid and the new developed approach works well.The method can also improve the initial alignment efficiency of unmanned aerial vehicle.
引文
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[2] 严天赦,张国全.船舶吃水对水深测量的影响浅析[J].港工技术,2009,46(188):71-74.
[3] 赵建虎,张红梅,John E Hughes Clarke.多波束测量中换能器瞬时精密高程的确定[J].武汉大学学报:信息科学版,2006,31(11):983-986.
[4] International Hydrographic Organization.M-13 Manual on Hydrography[S].Monaco:International Hydrographic Bureau,2005.
[5] 齐珺.海道测量精密定位数据处理理论与方法研究[D].大连:海军大连舰艇学院,2010.
[6] 齐珺,暴景阳,周丰年,等.海道测量船定位中心的升沉研究[J].武汉大学学报:信息科学版.2010,35(10):1169-1173.
[7] 葛健,肖付民,丰启明.舰惯导与换能器安装位置偏移对换能器升沉监测的影响[J].海洋测绘,2008,28(4):4-7.
[8] 齐珺,暴景阳,刘雁春.海道测量船质心位置的动态确定方法研究[J].测绘科学,2009(10):28-32.
[9] 齐珺,暴景阳,刘雁春.利用RTK 技术确定海道测量船质心位置[J].武汉大学学报:信息科学版.2010,35(9):1048-1051.
[10] 薄悦.提高质心测量精度的关键技术研究[D] .郑州:郑州机械研究所,2004.
[11] 孔凡邨.光纤陀螺罗经及其在航海上的应用[J].航海技术,2004(3):32-34.
[12] Thierry Gaiffe.From High Technology to Solutions The Experience of iXSea[J].Ocean Systems.S2007:1- 4.
[13] IXSEA.OCTANS III the gyrocompass with motion sensor[EB/OL].http:// www.3dgps.com.cn,2007- 05.
[14] Vicki C.LeFevre,William R.Lindberg.Fiber optic gyroscopes and the accomplishments of the DARPA-sponsored GPS guidance package program[C]//Proc.of SPIE,2006(6314):1-9.
[15] Bennett S.M.,Emge S.,Dyott R.B.Fiber optic gyroscopes for vehicular use[C]//Intelligent Transportation System,1997,IEEE Conference.
[16] Adams Gary,Mihael.Fiber opti gyro based preision navigation for submarines[C]//AIAA Guidane,Navigation,and Control Conferene and Exhibit,Denver,CO,2000.
[17] Kevin M.Killian,Mark Burmenko,Walter Hollinger.High-performance fiber optic gyroscope with noise reduction[C]//Editor(s):Ramon P.DePaula,NASA Headquarters,Washington,DC,USA,1994.
[18] IXSEA.OCTANS III the gyrocompass with motion sensor[EB/OL].http:// www.3dgps.com.cn,2007- 05.