基于有限传感器参数的起降点运动姿态换算技术研究

Research on the conversion technology of landing points motion attitude based on limited sensor parameters

针对以甲板为直升机起降平台的大型水面船舶,船载惯导装置安装布列位置与起降点距离较远,杆臂效应对船舶运动极短期预报模型参数辨识影响较大,严重影响升沉运动预报精度。本文根据有限姿态传感器实时采集横摇、纵摇及升沉信息,结合相关船体坐标,从理论分析入手推导换算起降点的升沉速度,并采用船模试验数据对升沉换算误差及升沉极短期预报精度进行测试验证。测试结果表明,起降点升沉运动换算对提高升沉极短期预报精度,辅助引导直升机舰面起降作业等具有重要意义。

For large surface ships using the deck as a helicopter takeoff and landing platform,the installation position of the shipborne inertial navigation device is far from landing points,and the lever arm effect has a significant impact on the parameters identification of the extremely short-term prediction model for ship motion,seriously affecting the accuracy of heave motion prediction.This article uses real-time roll,pitch and heave information collected by limited attitude sensors,combined with relevant ship coordinates,to derive the heave speed of landing points from theoretical analysis,and uses ship model test data to verify the heave conversion error and the accuracy of heave short-term prediction.The test results indicate that the conversion of landing points heave motion is of great significance for improving the accuracy of heave short-term prediction and assisting in guiding helicopters landing.