摘要
在利用惯导测量舰船的升沉运动中,针对传统方法设计的高通数字滤波器存在较大的相位滞后误差(即信号处理后的时间延迟误差)问题,提出一种滤波器设计方法:通过先设计传统的无限冲激响应低通滤波器,再采用互补方法将其转换为无相位滞后的高通滤波器,解决了信号时延问题;阐述了舰船升沉测量信号处理过程,即根据舰船上惯导姿态信息和加速度计采样输出,解算并给出天向加速度,通过积分和无时延高通滤波处理,获得升沉运动信息。最后,利用海上舰船试验数据进行验证,结果表明该方法的升沉测量精度提高了一个数量级。
INS（Inertial Navigation System）is always used as a key device to determine the ship＇s heave motion,while the technique by using a traditional high-pass digital filter exists a large phase delay error,that is,the filtered heave signal output is severely delayed compared with its actual heave motion.Aiming at the mentioned problems,a method for high-pass filter design was proposed.At first a traditional IIR（Infinite Impulse Response）low-pass filter was designed,then with a so-called complementary technique the low-pass filter was converted into zero-phase-delay high-pass filter,which could effectively solve the problem of signal delay.In ship＇s heave application,the INS accelerometers＇ specific force outputs were transformed by INS attitude matrix to form vertical acceleration,and then processed by integral and zero-delay high-pass filter to obtain the ship＇s heave motion parameters.Finally,a sea-trial data was processed offline and the results verified an improvement of one order of magnitude with the proposed filter design technique.
出处
《导航定位学报》
2016年第2期91-93,107,共4页
Journal of Navigation and Positioning
