基于强跟踪卡尔曼滤波的陀螺信号处理

发布时间：2018-01-15 22:04

本文关键词：基于强跟踪卡尔曼滤波的陀螺信号处理　出处：《吉林大学学报(工学版)》2017年06期 　论文类型：期刊论文

【摘要】：针对陀螺传感器测量精度低,严重影响航空光电稳定平台视轴稳定精度的问题,设计了强跟踪卡尔曼滤波器。根据时间序列分析法的基本原理,对经过预处理的陀螺原始量测数据进行AR模型建模,根据该AR模型采用状态空间法设计卡尔曼滤波器,同时为了增强系统的鲁棒性,引入强跟踪算法对卡尔曼滤波中的状态预测方差进行实时调整,构造了强跟踪卡尔曼滤波器。阐述了该算法的理论、原理,并且在某型航空光电稳定平台上进行试验验证。试验结果表明:强跟踪卡尔曼滤波器输出信号的方差减少了44.1%,分散程度降低,同时,相较于巴特沃斯滤波器,最大超调量减少13%,上升时间缩短了3ms,调整时间缩短了37.5ms,使平台具有良好的动态性能。研究表明,强跟踪卡尔曼滤波器可以提高航空光电稳定平台的精度,有较高的实用价值。
[Abstract]:Aiming at the problem that the measurement accuracy of gyroscope sensor is low, which seriously affects the stability accuracy of optical axis of aeronautical photoelectric stabilization platform, a strong tracking Kalman filter is designed, and according to the basic principle of time series analysis method, a strong tracking Kalman filter is designed. Based on the AR model of the pre-processed raw measurement data of gyroscope, the Kalman filter is designed by the state space method according to the AR model, and in order to enhance the robustness of the system. The strong tracking algorithm is introduced to adjust the state prediction variance in Kalman filter in real time, and the strong tracking Kalman filter is constructed. The theory and principle of the algorithm are expounded. The experimental results show that the variance of the output signal of the strong tracking Kalman filter is reduced by 44.1, the degree of dispersion is reduced, and the degree of dispersion is reduced at the same time. Compared with the Butterworth filter, the maximum overshoot is reduced by 13 percent, the rise time is shortened by 3ms, and the adjustment time is shortened by 37.5 ms. so that the platform has good dynamic performance. Strong tracking Kalman filter can improve the accuracy of aeronautical photoelectric stabilization platform and has high practical value.
【作者单位】：中国科学院长春光学精密机械与物理研究所;中国科学院航空光学成像与测量重点实验室;中国科学院大学;
【基金】：“863”国家高技术研究发展计划重点项目(2013AA122102)
【分类号】：TN713;V241.5
【正文快照】： 0引言高精度的航空光电稳定平台是由多级框架、光电红外系统以及激光瞄准系统组成的综合航空遥感器[1],其主要作用是隔离载体的扰动,使航空光电稳定平台的视轴能够迅速、平稳地跟踪和侦察靶标,实现激光功率即使通过长距离传输后仍能集中在靶标上[2]。航空光电稳定平台具有较好

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