CAJ | 학술논문

根据激光陀螺组合体测量的角增量计算得到的惯性姿态匹配测量方程，结合动态变形模型和静态变形模型，构建了船体角变形测量的最优滤波器，实现了角变形的最优估计。该方法将角变形和激光陀螺的随机漂移误差近似为平稳随机过程并分别构建滤波器，静态变形建模为白噪声驱动的一阶随机游走过程，动态变形建模为二阶马尔可夫平稳随机过程。通过角速度匹配测量方程进行了角变形的观测性分析得知：动态变形的估计精度与激光陀螺的测量精度相当，静态变形的估计精度依赖于船体摇摆频率和幅度，因此最优估计法的误差主要为静态角变形模型的估计误差。仿真结果表明，通过设置合适的静态角变形模型参数，该最优估计法测量角变形的误差小于10?。
근거격광타라조합체측량적각증량계산득도적관성자태필배측량방정，결합동태변형모형화정태변형모형，구건료선체각변형측량적최우려파기，실현료각변형적최우고계。해방법장각변형화격광타라적수궤표이오차근사위평은수궤과정병분별구건려파기，정태변형건모위백조성구동적일계수궤유주과정，동태변형건모위이계마이가부평은수궤과정。통과각속도필배측량방정진행료각변형적관측성분석득지：동태변형적고계정도여격광타라적측량정도상당，정태변형적고계정도의뢰우선체요파빈솔화폭도，인차최우고계법적오차주요위정태각변형모형적고계오차。방진결과표명，통과설치합괄적정태각변형모형삼수，해최우고계법측량각변형적오차소우10?。
Based on the inertial attitude matching measurement equation calculated from angular increment output of a laser gyro unit(LGU), an optimal filter for implementing ship angular deformation measurement is formed with static deformation model and dynamic flexure model. In the optimal filter, by assuming that the ship angular deformation and sensor’s error of LGU are stationary random process, the static deformation is modeled as the first order random walk process with white noise, and the dynamic flexure are modeled as second order Gaussian-Markov random process. The observability analyses of angular deformation by angular rate matching equation show that the estimation error of dynamic flexure is similar to laser gyro’s error, and estimation error of static deformation is modulated by swing frequency and amplitude of ship motions. So the estimation error of static deformation is the main factor of optimal estimation in ship angular deformation measurement. The simulations are made by setting proper parameters of static deformation model, and the results show that the estimation error of angular deformation is lower than 10? .