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An Inertial Measurement Method of Ship Deformation Angle Under the Condition of Uncertain Model Parameters

The matching filtering method based on the inertial measurement unit has become the development trend of ship deformation measurement. In the matching filtering method, the Kalman filter used to estimate the deformation angle requires certain dynamic deformation model parameters. Traditionally, these dynamic deformation parameters are empirically set according to previous experience or determined from previously collected experimental data, and all the parameters in the filter are certain. However, the actual deformation model parameters are changing and uncertain, and the Kalman filter will perform poorly when the current application environment is different from that utilized in the filter design. To overcome this difficulty, an inertial deformation measurement method under the condition of uncertain model parameters is proposed in this paper. Specifically, the interactive multi-model(IMM) Kalman filter method is introduced to solve the uncertainty problem of model parameters. According to our simulation results, the proposed method can estimate the ship deformation angle with a fast convergence and a high degree of accuracy, To be specific, the accuracy of the IMM-based method is improved by 5%∼10% in comparison with traditional single model KF method. Besides, a further advantage of the proposed method is that it enhances the adaptability of the deformation measurement system to the external environment changes.