In the process of heave measurement by using strapdown inertial navigation system,the introduction of digital high-pass filter can solve the problem of high integration divergence well,but it will bring amplitude attenuation and phase advance caused by the inherent characteristics of the high pass filter.Therefore,the amplitude and phase errors caused by high-pass filters are quantitatively analyzed,and a heave measurement method based on bandlimited multiple Fourier linear combiner(BMFLC)amplitude and phase compensation is proposed.The forgetting Kalman filter updating weight strategy is introduced in BMFLC.On the basis of improving the fitting accuracy of BMFLC,the compensation accuracy of amplitude and phase errors for the outputting information of digital high-pass filters is further improved.Finally,the proposed method is validated by using a six degree of freedom motion platform and ship experiments.The experimental results show that the root mean square error of the heave displacement measured by the proposed method is about 8.1 mm,which has high applicability and stability.
heave measurementbandlimited multiple Fourier linear combinerdigital high-pass filter
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