上海交通大学学报

上海交通大学学报（自然版） ›› 2012, Vol. 46 ›› Issue (03): 446-450.

• 天文学、地球科学 • 上一篇    下一篇

水下攻泥器随钻姿态惯性测量方法

颜翚，葛彤，杨柯，王旭阳   

  1. （上海交通大学 船舶海洋与建筑工程学院， 上海 200240）  
  • 收稿日期:2010-12-17 出版日期:2012-03-30 发布日期:2012-03-30
  • 基金资助:

    国家高技术研究发展计划（863）项目（2007AA09Z215）

Research on Attitude Measuring Method of Bit in Underwater MudPenetrator

 YAN  Hui, GE  Tong, YANG  Ke, WANG  Xu-Yang   

  1. (School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2010-12-17 Online:2012-03-30 Published:2012-03-30

摘要： 结合水下攻泥器钻头实际工作情况，提出了一种基于捷联惯性系统，通过扩展卡尔曼滤波算法进行钻头姿态测量的新方法. 该方法以加速度与角速度低频值作为观测量对误差进行校正，对钻头姿态进行推算. 测试结果表明，该钻头姿态测量方式是可行的，能够在不增加传感器情况下极大地提高捷联惯性系统的导航精度，使航向角的漂移从20°/h减小到3°/h.  

关键词: 水下攻泥器, 钻头姿态测量, 扩展卡尔曼滤波, 捷联惯性系统

Abstract:   This article described a new attitude measuring method of bit on the basis of the real operating condition of underwater mudpenetrator. The method which is based on a strapdown inertial system chooses the low frequency value of acceleration and angular rate as the observation and adopts extended Kalman filter to measure the attitude of bit. The results show that the new method is feasible and can improve the navigation accuracy of strapdown inertial system without additional sensor, the drift error decreases from 20°/h to 3°/h.  

Key words: underwater mudpenetrator, attitude measuring of bit, extended Kalman filter, strapdown inertial system

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