{
  "$type": "site.standard.document",
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  "description": "The disclosure discloses a strapdown inertial navigation heave measurement method using multiple low-pass filter units, including: 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…",
  "path": "/patents/1329389",
  "publishedAt": "2022-10-13T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/203",
    "Harbin Engineering University"
  ],
  "textContent": "The disclosure discloses a strapdown inertial navigation heave measurement method using multiple low-pass filter units, including: 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 semi-fixed 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 double-filter unit and one integral link to obtain a relatively accurate velocity signal; and furthermore, enabling the vertical acceleration to be subjected to a triple-filter unit and two integral links to obtain an accurate heave displacement. The method avoids the problem of phase lead caused by traditional addition of high-pass filters, and can provide a reference for ship swaying reduction operations, ship carrier lifts, ship-borne weapon launch and heave compensation of various offshore platforms.",
  "title": "Strapdown Inertial Navigation Heave Measurement Method Using Multiple Low-Pass Filter Units"
}