The investigation on measuring heave movement of the vessel by the use of inertial technology

This paper describes the definition of vessel heave motion and designs a scheme of using inertial techniques to measure the vessel heave motion. The move frame is established to describe the heave motion and the coordinate transition matrix from body frame to move frame is given in this paper. High-pass filter is used to eliminate heave motion errors due to the Schuler oscillation and the divergence of the altitude channel of SINS. Computer simulation results show that it is effective to measure the ship heave motion.