基于光纤陀螺的寻北系统关键技术研究

发布时间：2018-01-04 13:00

本文关键词：基于光纤陀螺的寻北系统关键技术研究　出处：《北京交通大学》2014年博士论文　论文类型：学位论文

【摘要】：陀螺寻北仪可以全天候、自主、快速地提供方位基准,在军事和民用领域都有着非常重要的应用价值。基于萨格奈克效应的光纤陀螺是一种全固态的惯性仪表,与传统机电陀螺相比有很大的优越性,在惯性领域得到了越来越广泛的应用。论文以高精度的光纤陀螺寻北系统为研究目标,在对光纤陀螺输出特性、寻北原理进行理论分析和实验研究基础上,深入探讨了光纤陀螺寻北系统的关键技术问题。从提高寻北系统精度的实际需求出发,在寻北方案、误差分析、系统设计、数据处理等方面展开了广泛而深入的研究。论文的主要工作和创新如下： 1.建立了光纤陀螺随机误差模型和输出漂移模型。在深入研究了光纤陀螺随机噪声来源及特性的基础上,引入了Allan方差分析方法对光纤陀螺的随机噪声进行分析,建立了光纤陀螺随机误差模型。提出了使用时间序列分析对随机漂移进行建模的方法,使用卡尔曼滤波方法对建立的模型进行了滤波,达到了减小随机噪声的效果。 2.建立了光纤陀螺静态寻北方案和连续旋转寻北方案的理论模型。提出了静态四位置寻北方案的改进,提出了基于相关函数调制和基于相位差这两种连续旋转方案的解算方法,建立了静态方案的倾斜补偿寻北模型。 3.建立了光纤陀螺寻北系统误差模型。推导了光纤陀螺寻北系统中存在的漂移误差、安装误差、转位误差、倾斜角测量误差、纬度误差等各主要误差项对寻北精度的影响,提出了估计寻北系统误差的方法。 4.提出了光纤陀螺寻北系统的总体结构,并进行了软硬件的设计和实现。在光纤陀螺寻北系统的实现过程中,提出了基于模糊自整定PID算法的转位控制系统,有效地提高了转位精度。对寻北系统进行了测试,得到了各寻北方案在不同实验条件下的性能指标。 5.提出了将粒子滤波方法应用于寻北系统的方案。该滤波方案能够有效地减小陀螺漂移和一些随机噪声对寻北精度的影响,提高寻北系统的精度。分别设计了两种粒子滤波器并对四位置寻北进行了实验,与基于系统重采样的粒子滤波相比,基于MCMC算法的粒子滤波可以达到更好的效果。 6.研究了基座扰动对寻北系统性能的影响和解决方法,提出了将小波滤波应用于基座扰动寻北处理的方案。小波滤波能有效滤除基座扰动产生的高频干扰；对于冲击脉冲干扰,提出了对小波滤波的结果进行分段加权处理的方法。
[Abstract]:Gyroscope north finder can provide azimuth datum all day, independently and quickly. It has very important application value in military and civilian fields. Fiber optic gyroscope based on Sager Naik effect is an all solid inertial instrument. Compared with the traditional electromechanical gyroscope, it is more and more widely used in the inertial field. Based on the theoretical analysis and experimental study of the north-seeking principle, the key technical problems of the fiber optic gyroscope (fog) north-seeking system are discussed in depth. In order to improve the accuracy of the north-seeking system, the error analysis is carried out in the north-seeking scheme. The system design, data processing and other aspects have carried out extensive and in-depth research. The main work and innovation of this paper are as follows: 1. The random error model and output drift model of fiber optic gyroscope (fog) are established. The random noise of fiber optic gyroscope (fog) is analyzed by Allan variance analysis method, and the random error model of fiber optic gyroscope (fog) is established, and the method of modeling random drift using time series analysis is proposed. Kalman filter is used to filter the model, which can reduce the random noise. 2. The theoretical models of the optical fiber gyro (fog) static north finding scheme and the continuous rotating north seeking scheme are established, and the improvement of the static four position north seeking scheme is proposed. Two kinds of continuous rotation schemes based on correlation function modulation and phase difference are proposed and the skew compensation north seeking model of static scheme is established. 3. The error model of fiber optic gyroscope (fog) north-seeking system is established, and the drift error, installation error, transposition error and tilt angle measurement error are deduced. The influence of latitude error and other main errors on the accuracy of north finding is discussed. A method to estimate the error of the north seeking system is proposed. 4. The overall structure of the fiber optic gyroscope (fog) north-seeking system is presented, and the hardware and software are designed and implemented. A position control system based on fuzzy self-tuning PID algorithm is proposed, which effectively improves the accuracy of the location. The performance index of each north-seeking scheme under different experimental conditions is obtained by testing the north-seeking system. 5. The particle filter method is applied to the north-finding system, which can effectively reduce the influence of gyro drift and some random noise on the north-finding accuracy. To improve the accuracy of the north-finding system, two kinds of particle filters are designed, and the experiment of four-position north-finding is carried out, which is compared with the particle filter based on system resampling. Particle filter based on MCMC algorithm can achieve better results. 6. The influence of the pedestal disturbance on the performance of the north-seeking system and its solution are studied, and the scheme of applying wavelet filter to the north-seeking processing of the pedestal disturbance is proposed. The wavelet filter can effectively filter the high-frequency interference caused by the pedestal disturbance. For impulse impulse interference, a method to deal with the result of wavelet filtering is presented in this paper.
【学位授予单位】：北京交通大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TN96

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