Hull deformation angle estimation method based on interactive multi-model filtering

The invention discloses a hull deformation angle estimation method based on interactive multi-model filtering. The method comprises the steps that firstly, a basic model of hull deformation angle estimation is set up, and then interaction models are set up; strapdown inertial navigation systems are set on a bow and a stern respectively, and hull motion information is measured; the hull motion information is processed based on a filter of the interaction model, and the hull deformation angle is estimated. According to the method, the interaction models are set up to cover the dynamic change range of the deformation angle, and the method is suitable for estimating the hull deformation angle under the model parameter uncertainty condition in the dynamic environment. 本发明公开了基于交互式多模型滤波的船体变形角估计方法，首先建立船体变形角估计的基本模型，再建立交互模型；通过在船艏、船尾各布置套捷联式惯导系统，测定船体运动信息；利用基于交互模型的滤波器处理船体运动信息，估计得到船体变形角。本发明方法，通过建立多个交互模型涵盖变形角动态变化范围，适用于动态环境中模型参数不确定条件下船体变形角的估计。