本文關鍵詞： 陀螺信號降噪 DSP硬件設計 經(jīng)典濾波算法 卡爾曼濾波算法　出處：《哈爾濱工業(yè)大學》2015年碩士論文　論文類型：學位論文

【摘要】：在陀螺儀工作過程中,陀螺儀中的隨機噪聲會大大影響陀螺儀的性能。本文針對哈爾濱工業(yè)大學提出的新型結構陀螺儀應用經(jīng)典濾波算法和現(xiàn)代濾波算法,有效的減小了陀螺儀信號中的隨機噪聲。提高陀螺系統(tǒng)的性能主要從陀螺儀結構優(yōu)化和陀螺儀信號后處理兩個方面考慮。本文針對哈爾濱工業(yè)大學MEMS中心提出的新型結構陀螺儀(球碟轉子式陀螺儀)進行信號后處理研究。新型的球碟轉子式陀螺結構相比于已有的陀螺結構是一種全新的結構,所以以前的信號后處理方式可能不適用。本文針對這一新型結構進行經(jīng)典濾波和現(xiàn)代濾波的應用研究,以提高陀螺整體性能。首先,本文對濾波算法運行的硬件平臺進行設計,其中以TMS320F2812作為主要的運算和控制單元,以采樣芯片AD7655作為陀螺信號采集芯片,并在此基礎上加入了DA模塊和DDS模塊,方便陀螺后續(xù)的載波輸出和伺服研究。根據(jù)硬件設計,本文編寫了各個模塊的驅動程序。最終實驗測量表明,AD采樣精度可以達到14位,采樣速率可以達到200k Hz。其次,在完成了硬件平臺的設計后,本文應用MATLAB濾波器設計工具箱設計IIR濾波算法,然后導入Simulink進行仿真驗證。之后在DSP平臺上編寫算法,并對濾波算法進行了優(yōu)化處理,在硬件平臺的實驗表明,DSP能夠實時濾除80%以上的不在有用頻段的噪聲信號。再次,經(jīng)典濾波算法從頻率角度出發(fā),雖然能夠濾除和信號不在同一頻段的大部分噪聲,但是對于和信號在同一頻段的噪聲卻無能為力。本文針對這一問題應用了卡爾曼濾波算法�？柭鼮V波算法要求被處理信號中的噪聲為白噪聲并且有準確的數(shù)學模型,因此本文對采集到的陀螺信號進行了預處理,得到陀螺信號的輪次值為96,峰度值為3.0149,偏度值為0.0474,滿足平穩(wěn)正態(tài)分布。然后建立了陀螺信號的ARMA模型。通過卡爾曼濾波算法,將隨機信號方差由3.0041×10-7減小到7.3704×10-8,有效的濾除了信號中的隨機噪聲,對于提高陀螺偏置穩(wěn)定性有很大幫助。
[Abstract]:In the working process of gyroscopes, random noise in gyroscopes will greatly affect the performance of gyroscopes. In this paper, classical filtering algorithms and modern filtering algorithms are applied to the novel structural gyroscopes proposed by Harbin University of Technology. It can effectively reduce the random noise in the gyroscope signal. Improving the performance of gyroscope system is mainly considered from two aspects: the optimization of gyroscope structure and the post-processing of gyroscope signal. This paper aims at the MEMS Center of Harbin University of Technology. The new structure gyroscope (spherical disk rotor gyroscope) is a new structure compared with the existing gyroscope. In order to improve the overall performance of gyroscope, this paper designs the hardware platform of filtering algorithm, which is based on the application of classical filtering and modern filtering, in order to improve the overall performance of gyroscope. TMS320F2812 is used as the main operation and control unit, and the sampling chip AD7655 is used as the gyro signal acquisition chip. On this basis, DA module and DDS module are added to facilitate the research of the subsequent carrier output and servo of gyroscope. The driver program of each module is written in this paper. The final experimental measurement shows that the sampling precision of AD can reach 14 bits and the sampling rate can reach 200kHz. Secondly, after the hardware platform is designed, In this paper, IIR filter algorithm is designed with MATLAB filter design toolbox, then imported into Simulink for simulation verification. Then the algorithm is written on DSP platform, and the filter algorithm is optimized. Experiments on the hardware platform show that the DSP can filter more than 80% noise signals which are not in the useful frequency band in real time. Thirdly, the classical filtering algorithm can filter most of the noise which is not in the same frequency band as the signal although the classical filtering algorithm can filter the noise from the frequency point of view. However, there is no way to deal with the noise in the same frequency band as the signal. In this paper, the Kalman filter algorithm is applied to this problem. The Kalman filtering algorithm requires the noise in the processed signal to be white noise and has an accurate mathematical model. Therefore, the gyro signal is preprocessed in this paper, and the gyro signal is obtained with a rotation value of 96, a kurtosis value of 3.0149 and a bias value of 0.0474.Then, the ARMA model of the gyro signal is established, and the Kalman filter algorithm is used. The variance of random signal is reduced from 3.0041 脳 10 ~ (-7) to 7.3704 脳 10 ~ (-8), which can effectively filter the random noise in the signal and improve the bias stability of gyroscope.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TN96;TN911.7

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