航空感应线圈位姿数据采集系统研发

发布时间：2019-06-21 03:13

【摘要】：固定翼时间域航空电磁勘查系统测量飞行中,三分量感应线圈传感器随吊舱的摆动发生姿态变化并产生振动,其姿态变化和振动对固定翼时间域航空电磁系统的测量性能有很大影响。论文课题依托于国家863计划重大项目研究子课题“固定翼时间域航空电磁系统实用化”,对国产固定翼时间域航空电磁勘查系统的接收吊舱以及内部航空感应线圈的位姿数据采集系统进行研究。主要完成测量飞行中吊舱和吊舱内悬挂在特殊星形结构避振装置上的三分量感应线圈的位姿数据采集与收录工作,完成对三分量感应线圈运动姿态数据的分析,求解其姿态变化规律和振动等参数。用以对勘查系统数据做校正参考,提高勘查系统数据的准确性,从而提高系统的勘查性能。针对接收吊舱狭小空间和电池供电的条件限制,大型高耗能的姿态测量仪器无法使用的问题,提出了一种基于嵌入式处理器的小型低功耗的物体运动姿态检测收录系统设计方案。设计选用STM32嵌入式处理器移植FATFS文件系统写SD卡的方式,完成姿态数据和GPS数据的收录功能,利用计算机完成姿态数据的解算与分析工作。原始姿态数据通过LABVIEW软件编写的数据预处理软件,完成数据格式转换及解析;通过Savitzky-Golay滤波器对姿态数据进行平滑去噪;通过四元数算法对收录的姿态数据进行解算。以上过程实现对物体运动姿态数据的收录处理,通过时域分析和频域分析完成对数据的分析工作。最终设计完成一套包括硬件采集和软件处理的位姿数据采集系统,并成功应用于固定翼时间域航空电磁勘查系统测量飞行中,系统工作稳定并采集了大量姿态数据。通过对数据的分析,最终实现了对吊舱减振装置的数据反馈。
[Abstract]:In the measurement flight of fixed wing time domain aeronautical electromagnetic exploration system, the attitude of three component induction coil sensor changes and vibrates with the swing of pods, and its attitude change and vibration have a great influence on the measurement performance of fixed wing time domain aeromembrane system. Based on the national 863 project "practical application of fixed wing time domain aeronautical electromagnetic system", the receiving pod of domestic fixed wing time domain aeronautical electromagnetic exploration system and the pose data acquisition system of internal aeronautical induction coil are studied in this paper. This paper mainly completes the position and pose data acquisition and collection of the three-component induction coil suspended on the special star structure vibration avoidance device in the pods and pods during flight, completes the analysis of the motion attitude data of the three-component induction coil, and solves the parameters such as the attitude change law and vibration of the three-component induction coil. It is used to correct the exploration system data and improve the accuracy of the exploration system data, so as to improve the exploration performance of the system. In order to solve the problem that the small space of receiving pod and the condition of battery power supply are limited, and the large and high energy consumption attitude measuring instrument can not be used, a design scheme of small and low power object motion attitude detection and collection system based on embedded processor is proposed. The design selects STM32 embedded processor to transplant FATFS file system to write SD card, completes the collection function of attitude data and GPS data, and uses computer to solve and analyze the attitude data. The original attitude data is transformed and parsed by the data preprocessing software written by LABVIEW software, the attitude data is smoothed and de-noised by Savitzky-Golay filter, and the attitude data is solved by quaternion algorithm. The above process realizes the collection and processing of the moving attitude data of the object, and completes the analysis of the data through the time domain analysis and the frequency domain analysis. Finally, a set of pose data acquisition system, which includes hardware acquisition and software processing, is designed and successfully applied to the measurement flight of aeronautical electromagnetic exploration system in fixed wing time domain. the system works stably and collects a large number of attitude data. Through the analysis of the data, the data feedback of the pod damping device is finally realized.
【学位授予单位】：北华航天工业学院
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP274.2

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