Study on a Ship with 6 Degrees of Freedom Inertial Measurement System and Related Technologies

We research ship 6 DOF inertial measurement method and displacement reconstruction form acceleration signal to establish the strap-down inertial navigation measurement system through sensors configuration technology. The inertial measurement system consists of three groups of vertically mounted angular rate and acceleration sensors. Through designing an FIR integration filter and studying the ship displacement signal reconstruction from the acceleration, the filter parameters design method and implementation way were determined. By means of the beam vibration to analog ship heave motion reconstructs linear displacement form acceleration signals. The root mean square error of the reconstructed line displacement is 0.004 mm, and the mean value of the displacement peak value is 5.92%, which is close to the design precision of the filter. The test shows that the measurement system and the FIR filter to achieve the predetermined precision with noise suppression.