Ship deformation monitoring method based on time-delay inertial measurement

For the ship deformation measurement system composed of two sets of inertial navigation systems, based on the traditional inertial measurement matching method, a method for monitoring the hull deformation based on time-delay inertial measurement is proposed. This method uses the output of the gyroscope to establish the measurement equation. Taking into account the influence of the time-delay error in practical applications on the accuracy of hull deformation monitoring, an extended dimension Kalman filter with the introduction of the time delay quantity is designed. The simulation results show that this method can effectively estimate the time delay error and significantly improve the accuracy of hull deformation monitoring.