中国舰船研究2025，Vol.20Issue(z1)：96-107,12.DOI:10.19693/j.issn.1673-3185.04126
基于低成本惯性测量单元的船舶姿态预测
Ship attitude prediction based on low-cost inertial measurement units
摘要
Abstract
[Objective]In complex marine environments,the vertical movement of ships often has a signifi-cant impact on the safety of offshore engineering operations.Active heave compensation devices can counter-act the vertical movement of ships,with all compensation commands relying on the vertical vessel attitude mo-tions(roll,pitch,and heave)as inputs.Therefore,a ship attitude prediction method based on low-cost inertial measurement unit is proposed.[Method]Based on the mathematical model relating quaternions to ship ro-tational motion,the linear acceleration of the ship in dynamic states is considered.A virtual yaw measurement value is introduced,and a ship attitude observer is designed.The extended Kalman filter algorithm is used to predict the ship's attitude.[Results]Simulation analysis and six-DOF platform experiments show that the prediction errors for the ship's roll and pitch angles are within 5%,comparable to those of commonly used mo-tion reference units.In addition,the method can predict the relative change in the yaw angle with a prediction error of no more than 8%.Experiments conducted under different sea conditions confirmed the accuracy and effectiveness of the ship attitude prediction method.[Conclusion]The research results provide high-preci-sion ship attitude data for wave compensation equipment,enhancing the safety and efficiency of marine engi-neering operations.关键词
惯性测量单元/船舶姿态预测/扩展卡尔曼滤波/六自由度平台Key words
inertial measurement units/ship attitude prediction/extended Kalman filter/six-DOF platform分类
交通工程引用本文复制引用
牛雅倩,龚凡明,毛寿祺..基于低成本惯性测量单元的船舶姿态预测[J].中国舰船研究,2025,20(z1):96-107,12.基金项目
上海市青年科技启明星计划项目(24QB2706900) （24QB2706900）
