时间同步误差对船体角形变测量的影响（英文）

Influences of time synchronization error on angular flexure measurement of ship hull

针对激光陀螺船体角形变测量,分析评估了两组激光陀螺组合体时间同步误差的影响,并提出了一种时间同步误差的在线估计算法。严格推导了考虑了时间同步误差的惯性姿态匹配方程,从方程可见,船体在波浪摇摆条件下时间同步误差将导致额外的Kalman滤波观测量波动误差,直接影响船体角形变测量精度。另一方面,基于新推导的惯性姿态匹配方程,在滤波状态中增加时间延迟变量,通过Kalman滤波能够在线估计时间延迟大小。基于实测远望船体姿态和角变形数据进行了仿真,仿真测试表明大的时间延迟将导致大的船体角形变测量误差,同时验证了时间延迟在线估计方法的有效性。

For ship angular flexure measurement based on the ring laser units, the effects of time synchronization error between the two ring laser gyro units are analyzed and evaluated, and an algorithm is proposed to estimate the time synchronization error online. The inertial-frame attitude matching equation considering the time synchronization error is derived, which shows that the time synchronization error will result in extra fluctuation errors of Kalman filter observation as the ship moves in response of the motion of the waves and thus significantly degrade the accuracy of ship angular flexure measurement. In addition, based on the derived inertial-frame attitude matching equation, the delay state is augmented into conventional linear state equations, thus the time synchronization error can be estimated via Kalman filtering. Numerical simulations are carried out with the measured ship attitude data and the angular flexure data of ‘Yuan-Wang Ship＇. The simulation results validate the effectiveness of the proposed time-delay estimation method and show that the longer time delay will result in the bigger angular flexure measurement error.