Study On Inertial Measurement System For Shipborne Stabilized Platform

The main function of the shipboard stabilized platform is to isolate the impact of the position and pose changes generated by the ship's marine environment such as waves and sea breeze.The ship-borne stable platform overcomes the disturbance of the marine environment and ensures the safety of personnel,the normal use of working equipment,and the improvement of passenger comfort,the stable platform will become a necessary equipment for ships.In this paper,the position and pose changes caused by the impact of the waves on the ship's load-stabilized platform is taken as the research object.Using the inertia quantity obtained by the inertial sensor,the corresponding inertial measurement system is built to measure the changes.Firstly,the current research status of the existing research on inertial measurement is studied,and the preliminary design is determined.Through the research and analysis of the principle of inertial measurement system,combined with the corresponding requirements of shipboard stabilized platform,the construction of the entire measurement system is confirmed.According to the relevant theory of inertial technology,the corresponding coordinate system needed for the measurement system is established,and the carrier pose determination method and the conversion relationships between coordinate systems are completed.Secondly,the existing attitude solving algorithm and position solving algorithm are analyzed and studied.According to the requirements of the measurement system and the characteristics of each solution algorithm,the system solving algorithm is determined.Then the solution errors in attitude calculation and position calculation are analyzed.The main error process affecting the system solution is the two-integral process from acceleration to displacement,and the drift caused by the trend term in integral results.A solution uses the filtering method combining time series analysis and Kalman filtering before the calculation and the error control method using the recursive least-squares method after solving is proposed.Then,the complete system solution platform is built using Simulink.Because the actual data is not easy to obtain and in order to verify the correctness of the corresponding error control method of the system,the mathematical simulation model of the simulated ship stable platform affected by the waves is established,and the simulation system input is obtained from the model.The simulation of the system under the condition that there is noise and no noise in the measured data is completed,and the correctness of the error control algorithm for the trend item after the pre-calculation and solution is verified.Finally,the linear guide test bench with sliders is built,by controlling the motion form of the sliders to simulate the motion of platform.Put the inertial data obtained during the motion process into the established system solution model,the solution result will be solved.The comparison with the data of the mechanical displacement sensor is used to verify the correctness and effectiveness of the proposed error control method.