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Sensors 2013, 13(11), 15656-15672; doi:10.3390/s131115656
Article

Unscented Particle Filtering for Estimation of Shipboard Deformation Based on Inertial Measurement Units

,
* ,
 and
School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing 100081, China
* Author to whom correspondence should be addressed.
Received: 9 September 2013 / Revised: 14 October 2013 / Accepted: 5 November 2013 / Published: 15 November 2013
(This article belongs to the Section Physical Sensors)
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Abstract

Shipboard is not an absolute rigid body. Many factors could cause deformations which lead to large errors of mounted devices, especially for the navigation systems. Such errors should be estimated and compensated effectively, or they will severely reduce the navigation accuracy of the ship. In order to estimate the deformation, an unscented particle filter method for estimation of shipboard deformation based on an inertial measurement unit is presented. In this method, a nonlinear shipboard deformation model is built. Simulations demonstrated the accuracy reduction due to deformation. Then an attitude plus angular rate match mode is proposed as a frame to estimate the shipboard deformation using inertial measurement units. In this frame, for the nonlinearity of the system model, an unscented particle filter method is proposed to estimate and compensate the deformation angles. Simulations show that the proposed method gives accurate and rapid deformation estimations, which can increase navigation accuracy after compensation of deformation.
Keywords: shipboard deformation; inertial measurement unit; unscented particle filter; attitude plus angular rate match mode shipboard deformation; inertial measurement unit; unscented particle filter; attitude plus angular rate match mode
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Wang, B.; Xiao, X.; Xia, Y.; Fu, M. Unscented Particle Filtering for Estimation of Shipboard Deformation Based on Inertial Measurement Units. Sensors 2013, 13, 15656-15672.

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