基于CPCI的光纤惯性形变测量数据同步采集设计

发布时间：2019-04-02 17:39

【摘要】：大型舰船上搭载的惯性测量单元为各种舰载设备提供高精度的位置运动参数。但由于船体形变的存在使得舰船坐标基准失调,空间信息共享性降低,协同作战误差变大。为提高军用舰船武器装备作战性能,精确测量船体变形角至关重要。实验室使用基于角速度匹配的卡尔曼滤波法估算船体变形角,此方法以位于舰船不同位置的惯性测量单元输出的角速度差为观测量建立量测方程。实际形变测量系统中惯性测量单元相互独立工作而导致采集角速度时间上的同步性无法保证,通过仿真验证时间同步与否会对船体变形角测量精度产生影响。为保证采集角速度的同步性,本文从硬件角度出发建立数据同步采集系统,以北斗卫导组合接收机输出的秒脉冲信号为基准校正不同IMU内部采集单元的触发脉冲,主要功能实现单元为同步数据采集卡。首先提出一款基于CPCI总线的同步数据采集卡设计方案,根据设计方案对其各部分模块进行器件选型并完成硬件电路设计。然后利用Verilog HDL语言实现程序代码的编写工作,完成FPGA内部时间同步模块、串口数据接收模块、标记和缓存模块的程序编写。最后根据同步数据采集系统功能要求,利用WinDriver完成数据采集卡的CPCI总线驱动程序开发和上位机界面应用程序开发。最后一部分设计实验验证数据采集卡的同步性,实验结果表明,利用采集卡采集的数据进行变形角估算,其精度满足要求。同步数据采集卡可以为角速度匹配算法提供可靠的数据支持,为后续船体形变算法的顺利展开提供了保障。
[Abstract]:The inertial measurement unit on a large ship provides high precision position motion parameters for all kinds of shipborne equipment. However, due to ship deformation, ship coordinates are misaligned, spatial information sharing is reduced, and cooperative combat error becomes larger. In order to improve the combat performance of military warship's weapons and equipment, it is very important to measure the ship's deformation angle accurately. The Kalman filter method based on angular velocity matching is used to estimate the ship deformation angle. The measurement equation is established by using the angular velocity difference of the output of the inertial measurement unit located in different positions of the ship as the observation equation. The synchronization of acquisition angular velocity time can not be guaranteed because inertial measurement units work independently of each other in the actual deformation measurement system. It is verified by simulation that the synchronization of time will affect the accuracy of ship deformation angle measurement. In order to ensure the synchronization of the acquisition angular velocity, this paper sets up a data synchronous acquisition system from the hardware point of view, and corrects the trigger pulses of different IMU internal acquisition units based on the second pulse signal output from the Beidou Satellite Integrated receiver. The main function realization unit is synchronous data acquisition card. Firstly, a design scheme of synchronous data acquisition card based on CPCI bus is proposed. According to the design scheme, the device selection and hardware circuit design of each part of the data acquisition card are carried out. Then we use Verilog HDL language to write the program code, and complete the program of FPGA internal time synchronization module, serial port data receiving module, tag and cache module. Finally, according to the function requirement of synchronous data acquisition system, the CPCI bus driver of data acquisition card and the application program of upper computer interface are developed by using WinDriver. In the last part of the experiment, the synchronization of the data acquisition card is verified. The experimental results show that the accuracy of the data collected by the data acquisition card to estimate the deformation angle meets the requirements. The synchronous data acquisition card can provide reliable data support for angular velocity matching algorithm and provide guarantee for the subsequent ship deformation algorithm to develop smoothly.
【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】：TP274.2

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