Strapdown inertial navigation heave measurement method using multiple low-pass filter units

US12061087B2 · kind B2 · utility

Assignee

• Harbin Engineering University · CN

Inventors

• Yuxin Zhao · Longbeilingcun, CN
• Tingxiao Wei · Jingwei, CN
• Yueyang Ben · Jingwei, CN
• Lei Wu · Pleasanton, US
• Qian Li · Lo Wu, CN
• Guangtao Zhou · Jingwei, CN
• Qianqian Gao · Jingwei, CN
• Xiaofeng Wei · Jingwei, CN
• Shuaiyang Li · Jingwei, CN

Key dates

• Filing date: Jun 22, 2022
• Grant date: Aug 13, 2024
• Expiry date: Dec 30, 2042

Classification

• Technology area (CPC G): Physics
• CPC primary: G01C21/16
• WIPO field: Measurement
• WIPO sector: Instruments

Abstract

A strapdown inertial navigation heave measurement method using multiple low-pass filter units includes: firstly, collecting data of a gyroscope and an accelerometer by a system, obtaining attitude information of a carrier by using initial alignment, and then, obtaining a relationship matrix between a body coordinate system and a geographic coordinate system by using the attitude information; obtaining a relationship matrix between the geographic coordinate system and a reference coordinate system according to a geographic position, and obtaining a rough vertical acceleration by using a direction cosine matrix, output information of the accelerometer and gravity information; then, filtering out low-frequency signals by using a first filter unit and integration to obtain a relatively accurate velocity signal; and furthermore, enabling the vertical acceleration to be subjected to a second filter unit and integration to obtain an accurate heave displacement.