| In modern warfare,aircraft carriers and carrier-born aircrafts are the most prevailing powerful combination of integrated battle effectiveness in maritime military forces,of which carrier landing technology of carrier-borne aircrafts is the most critical core technology in the whole warfare chain.In this paper,with respect to the purpose of realizing automatic landing of carrier-borne aircrafts,a high-precision measurement scheme of carrier landing point based on inertial matching was established,focusing on study of high-precision measurement technology of carrier landing point based on inertial sensors.First,signal noise of inertial sensors is characterized with nonlinear and non-stationary features,which affect the inertial matching results.Traditional sensor signal noise reduction algorithms based on empirical mode decomposition may have end effects when processing finite time series,which has great an impact on the reliability of algorithms.To address the abovementioned problem,in this paper,an inertial measurement unit noise reduction algorithm based on ELM-EMD was proposed on the basis of empirical mode decomposition algorithms combined with extreme learning machine.The simulation results show that after processing the proposed algorithm,the noise-related parameters were reduced,error parameters were significantly improved,and signal-to-noise ratio was also improved.Second,due to the presence of a distance between the master inertial navigation and inertial measurement unit installed at the carrier landing point,the two will sense different accelerations,that is,the lever arm effect,which affects deformation measurement accuracy.To address the abovementioned problem,in this paper,a lever arm error compensation scheme was adopted to compensate and correct errors caused by the lever arm effect.In addition,with respect to the impacts on the correction and compensation accuracy of observation noise and other uncertainties,a H_?filter-based robust algorithm for lever arm errors was proposed.In the view of time delay errors,such as fixed delay and transmission delay,between the master inertial navigation and inertial measurement unit at the carrier landing point,which affects the measurement accuracy,information interpolation method was adopted to compensate for the nominal lag time of master inertial navigation information,where sub-inertial navigation information at information generation moment of nominal master inertial navigation was obtained by the interpolation method.For the low deformation angle measurement accuracy caused by the non-Gaussian system noise in the actual environment of hull deformation measurement,a Huber robust filter based on?~2 information detection prediction was proposed to further improve the measurement accuracy and dynamic adaptability of hull deformation angle information.The simulation results show that when a deformation angle occurs due to the non-Gaussian system noise,the dynamic deformation angle estimated by the algorithm result was almost the same as the actual deformation angle using Huber filter algorithm to complete the filter estimation.The static deformation angle and the overall deformation angle can be quickly converged,which verifies that the algorithm is good at estimating effect and presents strong superiority. |
