本文關鍵詞：基于光纖陀螺的尋北系統(tǒng)關鍵技術研究　出處：《北京交通大學》2014年博士論文　論文類型：學位論文

  更多相關文章： 光纖陀螺 尋北儀 尋北方案 誤差分析 濾波技術 基座擾動

【摘要】：陀螺尋北儀可以全天候、自主、快速地提供方位基準,在軍事和民用領域都有著非常重要的應用價值�；谒_格奈克效應的光纖陀螺是一種全固態(tài)的慣性儀表,與傳統(tǒng)機電陀螺相比有很大的優(yōu)越性,在慣性領域得到了越來越廣泛的應用。論文以高精度的光纖陀螺尋北系統(tǒng)為研究目標,在對光纖陀螺輸出特性、尋北原理進行理論分析和實驗研究基礎上,深入探討了光纖陀螺尋北系統(tǒng)的關鍵技術問題。從提高尋北系統(tǒng)精度的實際需求出發(fā),在尋北方案、誤差分析、系統(tǒng)設計、數(shù)據(jù)處理等方面展開了廣泛而深入的研究。論文的主要工作和創(chuàng)新如下： 1.建立了光纖陀螺隨機誤差模型和輸出漂移模型。在深入研究了光纖陀螺隨機噪聲來源及特性的基礎上,引入了Allan方差分析方法對光纖陀螺的隨機噪聲進行分析,建立了光纖陀螺隨機誤差模型。提出了使用時間序列分析對隨機漂移進行建模的方法,使用卡爾曼濾波方法對建立的模型進行了濾波,達到了減小隨機噪聲的效果。 2.建立了光纖陀螺靜態(tài)尋北方案和連續(xù)旋轉(zhuǎn)尋北方案的理論模型。提出了靜態(tài)四位置尋北方案的改進,提出了基于相關函數(shù)調(diào)制和基于相位差這兩種連續(xù)旋轉(zhuǎn)方案的解算方法,建立了靜態(tài)方案的傾斜補償尋北模型。 3.建立了光纖陀螺尋北系統(tǒng)誤差模型。推導了光纖陀螺尋北系統(tǒng)中存在的漂移誤差、安裝誤差、轉(zhuǎn)位誤差、傾斜角測量誤差、緯度誤差等各主要誤差項對尋北精度的影響,提出了估計尋北系統(tǒng)誤差的方法。 4.提出了光纖陀螺尋北系統(tǒng)的總體結(jié)構,并進行了軟硬件的設計和實現(xiàn)。在光纖陀螺尋北系統(tǒng)的實現(xiàn)過程中,提出了基于模糊自整定PID算法的轉(zhuǎn)位控制系統(tǒng),有效地提高了轉(zhuǎn)位精度。對尋北系統(tǒng)進行了測試,得到了各尋北方案在不同實驗條件下的性能指標。 5.提出了將粒子濾波方法應用于尋北系統(tǒng)的方案。該濾波方案能夠有效地減小陀螺漂移和一些隨機噪聲對尋北精度的影響,提高尋北系統(tǒng)的精度。分別設計了兩種粒子濾波器并對四位置尋北進行了實驗,與基于系統(tǒng)重采樣的粒子濾波相比,基于MCMC算法的粒子濾波可以達到更好的效果。 6.研究了基座擾動對尋北系統(tǒng)性能的影響和解決方法,提出了將小波濾波應用于基座擾動尋北處理的方案。小波濾波能有效濾除基座擾動產(chǎn)生的高頻干擾；對于沖擊脈沖干擾,提出了對小波濾波的結(jié)果進行分段加權處理的方法。
[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.
【學位授予單位】：北京交通大學
【學位級別】：博士
【學位授予年份】：2014
【分類號】：TN96

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