An efficient heave measurement algorithm of strapdown INS

Heave measurement is an important technology for many marine works. Strapdown inertial navigation system is always used as a key device to determine the heave motion of ship. Generally, the fixed point of INS and the center of gravity of ship are different. The lever arm between the fixed point of INS and center of gravity of ship and ship transient movement will cause heave error. To get accurate heave information, an efficient heave measurement algorithm is described in this study. The heave is re-divided into translated heave and induced heave in the paper due to lever arm and attitude of ship. Translated heave is computed by the accurate lever arm compensated acceleration which through the heave filter. Then, accurate heave is obtained by translated heave compensated by the induced heave which due to lever arm and attitude of ship. Finally, simulation was processed to verify the efficiency of the proposed algorithm.