Ship deformation measurement based on angular rate matching method and Quasi-static model

The ship deformation is an inevitable and severe problem for surface ships, especially when the ship is large or the sea condition is rough. Moreover, the positioning or detecting precision of the shipboard equipment will significantly decreases due to the ship deformation. So it is of great significance that estimating the ship deformation angle and restraining its effect in practice. Since ship deformation measurement technologies are mostly under theory simulation phases at present, we proposed a novel measurement technology based on actual ship test. In this method, the Quasi-static model of the ship deformation angle was presented taken the measuring velocity and the slowly varying feature of the static deforming angle into consideration. Established Markov model and Quasi-static model based on the actual ship experiments, the ship deformation angle can be estimated with the Kalman Filter (KF). And the experiment results showed that the ship deformation angle, including the dynamic deformation angle and the slowly changing deformation angle, can be estimated commendably with the Quasi-static model and angular rate matching. Thus, this proposed method can not only improve the estimated accuracy of the deformation angle in various application environments, verified its effectiveness and superiority, but also prove powerful support for the practical application of the ship deformation measurement.