An inertial measurement method of ship deformation based on IMM filtering

Matching filtering algorithm based on inertial measurement unit is the development trend of deformation of ship hull. Kalman filter requires that the system model parameters are known accurately, however the parameters of the actual ship hull deformation model are unknown or uncertain. According to the above problem, this paper introduces interacting multiple models (IMM) Kalman filtering method based on the “velocity plus angular velocity” model matching. The estimated residuals of each model are used to calculate the probability of the corresponding model. Finally, simulation results show fast convergence, good stability and high accuracy of the proposed algorithm. Then, we use the Monte Carlo simulation. The results show that the IMM can increase 5%-10% accuracy than the Kalman filter. The IMM algorithm can improve the estimation accuracy of the deformation angle and the environmental adaptability compared with the traditional Kalman filter.