针对传统方法设计的高通数字滤波器存在较大的相位滞后误差问题,提出了基于组合导航和互补滤波器的舰船升沉测量方案.首先,通过惯性/卫星组合导航估计天向加速度计零偏,降低长相关零偏对升沉滤波器的影响,提高了升沉滤波器的响应速度.然后,设计传统的无限冲激响应低通滤波器,采用互补方法将其转换为高通滤波器,解决了信号时延问题.最后,利用六自由度平台进行了试验验证.结果表明,该方法的升沉测量精度相较于传统方法提高了30％,均方根误差达到1.8 cm.
Research on Ship Heave Measurement Method Based on Integrated Navigation and Complementary Filter
A ship heave measurement scheme based on integrated navigation and complementary filter is proposed to address the issue of significant phase lag errors in traditional methods of designing high-pass digital filters.Firstly,the bias of the celestial accelerometer is estimated through inertial/satellite integrated navigation to reduce the impact of long phase correlation bias on the heave filter,the response speed of the heave filters are improved.Then,a traditional infinite im-pulse response low-pass filter is designed and converted into a high-pass filter using complementary methods,solving the problem of signal delay.Finally,experiment verification is conducted using a six-degree of freedom platform,and the re-sults show that the heave measurement accuracy of this method is improved by 30％ compared to traditional methods,with a root mean square error of 1.8 cm.
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