Research On Key Technologies Of Position Posture Measurement And Heave Prediction For Marine Ship Motion

Accurate display of position,attitude and heave prediction information is required in the process of material replenishing between ships,the retracting and releasing of unmanned submersibles and the operation of salvage vessels.However,ships are affected by complex environment(current,sea breeze)in the process of operation at sea,and there will be signal interference in the sensor data acquisition,which seriously affects the accuracy of data acquisition.At present,the information measurement technology for Marine ship movement is not perfect,there are some defects such as poor real-time performance,low accuracy,low applicable sea conditions and lack of prediction.To this end,this thesis proposes a Marine ship motion posture measurement and measurement method for prediction of heave,in the rough sea environment real-time location attitude information,and be able to in the process of loading crane object to get ahead of heave information,make can do precise positioning of the sea vessel,and make the ship loaded object hanging down,salvage,more secure,efficient,Take adequate precautions.In view of sensor parts that collect motion information,combining with the existing inertial devices in the experiment,the performance parameters are analyzed,the errors generated by inertial devices in the work are introduced,the corresponding error model of the devices is built,the turntable test equipment that meets the current experimental conditions is selected,and the calibration algorithm is designed to compensate the errors of inertial devices.Measurement of ship posture(rolling,pitching,bowing)in response to the harsh environment at sea,the attitude measurement is realized by using the Quaternion Extended Kalman Filter algorithm,and the advantages of the data fusion solution of the gyroscope,accelerometer and reluctance meter are complementary.Through the analysis of the experimental results,it is found that the data processed by the designed algorithm is highly consistent with the data and images processed by SBG products.The proposed attitude measurement algorithm is proved to be feasible and correct.By analyzing the integrated mode of SINS/GPS integrated navigation,the different acquisition information,error equations and device characteristics of SINS and GPS sensors were integrated,and the state equation and measurement equation based on GPS and SINS observations were established.To a certain extent,it overcomes the signal interference and realizes the measurement of the position(latitude and longitude)of the ship on the sea.By comparing and analyzing the experimental results,it is proved that the accuracy of the integrated navigation algorithm is better than that of the single inertial navigation system and satellite navigation system.Finally,on the basis of analyzing the characteristics of the sea motion,the ship heave motion model is designed and analyzed,and the prediction algorithm is introduced theoretically.The spatial state model of Kalman filter was designed,and the new heave displacement model was obtained through optimal estimation,and the prediction was realized by adjusting the time parameters.Finally,the heave prediction function image is obtained through the simulation experiment.When the time prediction is within 4s,the heave prediction image of the design algorithm is similar to that of the simulation design,and the short-term heave prediction can be realized.