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In order to apply the dynamic inclinometers based on low-cost micro electro mechanical systems (MEMS) inertial measurement units to ships conviniently, it is necessary to overcome the significant impact of the ship sway and surge motion in moored condition, which are periodic acceleration changes of several seconds to tens of seconds, on inclinometer measurements.
The algorithm for inclinometers in the situation is studied. Gyroscope measurements are used for attitude quaternion update. Then the horizontal accelerometer measurement values without the effects of roll and pitch are obtained. On this basis, the error analysis and impact analysis of sway and surge is carried out. The horizontal accelerometer measurement values are put through a low-pass filter with zero-phase-delay. Then Kalman filtering is performed using the low frequency component of horizontal accelerometer measurement values as the observation of the Kalman filter, and horizontal attitude errors and angular velocity measurement errors as state variables. Attitude closed-loop correction is conducted to make the MEMS dynamic inclinometer keeping the expected accuracy in a long time when the ship is moored.
An experiment is conducted using a certain type of MEMS dynamic inclinometer to validate the algorithm of reducing the effect of sway and surge. The measurement accuracy reached 0.2°(1σ) with an acceleration amplitude of 0.8g in the experiment,
verifying the effectiveness of the algorithm. Key words: low pass filter; Kalman filter; dynamic inclinometer; sway and surge
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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