球碟转子式陀螺信号分析及处理技术研究

发布时间：2018-07-03 21:19

本文选题：球碟转子式陀螺 + 自适应滤波　；参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：球碟转子式陀螺的输出信号中包含多种噪声,要想进一步提高陀螺的精度和稳定性,需要对噪声源中不同噪声进行识别,针对主要噪声进行相应处理。本文工作首先对陀螺中主要的几种噪声成分进行辨识,分析出对陀螺稳定性影响最大的几种噪声;针对不同的噪声成分设计了不同的处理算法,利用DSP能够高效的完成数字信号处理算法的优势,设计了球碟转子式陀螺信号采集和处理系统对算法进行验证。在对陀螺静态输出信号进行分析后,发现球碟转子式陀螺的输出信号中具有较多的奇异点,同时具有线性漂移误差。针对奇异项误差,本文在拉依达准则的基础上,提出了改进拉依达去除奇异项算法;针对线性漂移误差,本文利用惯性系统中常见的陀螺加速度计组合出现的特点,设计了稳态判断动态补偿线性漂移的去趋势项算法,该算法具有成本低,实现简单等特点。对于球碟转子式陀螺中的随机噪声,本文研究了LMS(Least Mean Square)在陀螺去噪中应用的优势以及缺陷,最终采用了LMS算法的改进算法VSS(Variable step size)算法作为球碟转子式陀螺处理算法,该算法具有良好的噪声处理效果并具有较快的收敛速度。为验证算法的正确性,本文设计了陀螺信号采集处理系统,该系统采用高性能DSP芯片TMS320F28335,高精度ADC芯片AD7606,最终可以实现最高200KHz的采样速率对球碟转子式陀螺输出信号进行采集。对算法以及采集处理系统进行验证,结果证明本文设计的算法对奇异项误差可以良好的去除;对趋势项误差的动态补偿性能良好;经过自适应滤波算法陀螺稳定性得到了大幅度提升。最终实现了陀螺的偏置不稳定性最大值从19.19°/h下降到了4.716°/h,显著提高了陀螺偏置稳定性。
[Abstract]:In order to improve the precision and stability of the gyroscope, it is necessary to recognize the different noises in the noise source and deal with the main noise accordingly in order to improve the accuracy and stability of the gyroscope, which contains a variety of noises in the output signal of the rotor gyroscope. In this paper, the main noise components of gyroscope are identified, and the noise which has the greatest influence on the stability of gyroscope is analyzed, and different processing algorithms are designed for different noise components. Based on the advantage of DSP which can efficiently complete digital signal processing algorithm, the signal acquisition and processing system of spherical disk rotor gyroscope is designed to verify the algorithm. After analyzing the static output signal of gyroscope, it is found that there are many singularity points and linear drift error in the output signal of spherical disc rotor gyroscope. Aiming at the singularity error, this paper proposes an improved algorithm for removing singularity based on the Lagrangian criterion, aiming at the linear drift error, this paper makes use of the common characteristics of gyroscope accelerometer combination in inertial system. In this paper, a new algorithm for dynamic compensation of linear drift based on steady-state judgment is designed. The algorithm has the advantages of low cost and simple implementation. In this paper, the advantages and disadvantages of the application of LMS (least mean Square) in gyroscope denoising are studied. Finally, the improved algorithm VSS (variable step size) algorithm) is adopted as the processing algorithm of spherical disk rotor gyroscope. The algorithm has good noise processing effect and fast convergence speed. In order to verify the correctness of the algorithm, a gyroscope signal acquisition and processing system is designed in this paper. The system uses high performance DSP chip TMS320F28335 and high precision ADC chip AD7606. Finally, the highest sampling rate of 200kHz can be realized to collect the output signals of the spherical disk rotor gyroscope. The algorithm and the acquisition and processing system are verified, the results show that the algorithm designed in this paper can remove the singularity error well, and the dynamic compensation performance of the trend term error is good. The stability of gyroscope is greatly improved by adaptive filtering algorithm. Finally, the maximum value of bias instability of gyroscope is reduced from 19.19 掳/ h to 4.716 掳/ h, and the bias stability of gyroscope is improved significantly.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN96

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