An Improved Heave Compensation Algorithm for Strapdown INS in Marine Operations
Source abstract
Abstract
Heave compensation is crucial for the improvement of marine engineering. However, there remain two main drawbacks in existing methods. One drawback is that the output accuracy of heave information is insufficient. The other drawback is that the consideration of lever arm effect errors is inadequate. To address these challenges, a new heave compensation algorithm is proposed in this paper. Firstly, a vessel’s center of gravity acceleration model incorporating lever arm effect dynamics is established. Secondly, a modified high-pass filter is presented using complementary techniques. A comparative error analysis demonstrates its superiority over traditional digital filters in real-time performance. Thirdly, the algorithm independently updates solutions of the heave of the vessel’s center of gravity and the heave caused by the lever arm vector and the vessel’s attitude to avoid oscillating temporarily. Simulation results verified the better heave measurement accuracy of the proposed algorithm. This algorithm is pivotal to marine engineering.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Adaptive Control of Nonlinear Systems · Maritime Navigation and Safety · Elevator Systems and Control
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Mechanical and Automotive Engineering, Anhui Polytechnic University, Wuhu 241000, China
Anhui Provincial Key Laboratory of Intelligent Car Wire-Controlled Chassis System, Wuhu 241000, China
Funding
Anhui Provincial Key Laboratory of Intelligent Car Wire-controlled Chassis System
References (21)
Show source-provided references
1. Xu, J., Wang, Y., Ma, J., and Zhan, Y. (2023). Cascade Control of Active Heave Compensation Nonlinear System for Marine Crane. J. Mar. Sci. Eng., 11.10.3390/jmse11051092 ↗
2. Zhang, F., Ning, D., Hou, J., Du, H., Tian, H., Zhang, K., and Gong, Y. (2023). Semi-Active Heave Compensation for a 600-Meter Hydraulic Salvaging Claw System with Ship Motion Prediction via LSTM Neural Networks. J. Mar. Sci. Eng., 11.10.3390/jmse11050998 ↗
3. Chen, H., Xie, J., Han, J., Shi, W., Charpentier, J.F., and Benbouzid, M. (2022). Position Control of Heave Compensation for Offshore Cranes Based on a Particle Swarm Optimized Model Predictive Trajectory Path Controller. J. Mar. Sci. Eng., 10.10.3390/jmse10101427 ↗
4. Liu, Y., Cheng, X., Han, K., Liu, Z., and Feng, B. (2025). Investigation into the Prediction of Ship Heave Motion in Complex Sea Conditions Utilizing Hybrid Neural Networks. J. Mar. Sci. Eng., 13.10.3390/jmse13010001 ↗
5. Li, S., Wu, Q., Liu, Y., Qiao, L., Guo, Z., and Yan, F. (2024). Research on Three-Closed-Loop ADRC Position Compensation Strategy Based on Winch-Type Heave Compensation System with a Secondary Component. J. Mar. Sci. Eng., 12.10.20944/preprints202401.1318.v1 ↗
6. Kang, Y., Fang, H., Wang, C., and Liu, S. (2025). Research on Heave Compensation Systems and Control Methods for Deep-Sea Mining. J. Mar. Sci. Eng., 13.10.3390/jmse13040652 ↗
7. Real time estimation of ship motions using Kalman filtering techniques10.1109/JOE.1983.1145542 ↗
8. Discrete-time Kalman Filter for Heave Motion Estimation10.1016/j.oceaneng.2023.114240 ↗
9. Kalman Filtering for Positioning and Heading Control of Ships and Offshore Rigs10.1109/MCS.2009.934408 ↗
10. Aminzadeh, F. (1989, January 18–21). A Two Dimensional Generalized Kalman Filter Approach to Heave Compensation in Underwater Applications. Proceedings of the 1989 IEEE Oceans, Seattle, WA, USA.
11. Küchler, S., Eberharter, J.K., Langer, K., Schneider, K., and Sawodny, O. (September, January 28). Heave Motion Estimation of a Vessel Using Acceleration Measurements. Proceedings of the International Federation of Automatic Control (IFAC), Milano, Italy.
12. Guo, P., Li, J., Chen, T., and Wu, Z. (2021, January 18–20). Heave Motion Estimation Based on Cubature Kalman Filter. Proceedings of the 2021 International Conference on Cyber-Physical Social Intelligence (ICCSI), Beijing, China.10.1109/ICCSI53130.2021.9736261 ↗
13. An Adaptive Robust Cubature Kalman Filter Based on Sage-Husa Estimator for Improving Ship Heave Measurement Accuracy10.1109/JSEN.2023.3260300 ↗
14. Godhaven, J. (October, January 28). Adaptive Tuning of Heave Filter in Motion Sensor. Proceedings of the 1998 IEEE Oceans, Nice, France.
15. Hu, Y., and Tao, L. (2013, January 16–19). Real-time Zero Phase Filtering for Heave Measurement. Proceedings of the 2013 IEEE 11th International Conference on Electronic Measurement & Instruments, Harbin, China.
16. Ning, X., Zhao, J., and Xu, J. (2016, January 7–10). The Heave Motion Estimation for Active Heave Compensation System in Offshore Crane. Proceedings of the IEEE International Conference on Mechatronics and Automation, Harbin, China.
17. Measurement of Ship’s Heave Motion Based on INS and Zero-phase-delay Digital Filter
18. Real-time Heave Motion Measurement by Adaptive Band-pass Filter Based on Strapdown INS10.1016/j.oceaneng.2022.112278 ↗
19. Wei, X., Gao, W., Zhang, Y., Fan, S., Ping, B., and Shen, F. (2023, January 6–9). Heave Measurement Algorithm for Strapdown Inertial Navigation System Based on Adaptive Multiple Low-pass Filter. Proceedings of the 2023 IEEE International Conference on Mechatronics and Automation (ICMA), Harbin, China.10.1109/ICMA57826.2023.10215579 ↗
20. Lu, D., Zhang, Y., and Wang, J. (2023). Adaptive Delay-Free Filtering Based on IMU for Improving Ship Heave Measurement. Sensors, 23.10.3390/s23249791 ↗
21. Universal Graph Filter Design Based on Butterworth, Chebyshev, and Elliptic Functions10.1007/s00034-022-02145-w ↗