本文選題：球碟轉(zhuǎn)子式陀螺 + 自適應(yīng)濾波�。� 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：球碟轉(zhuǎn)子式陀螺的輸出信號中包含多種噪聲,要想進一步提高陀螺的精度和穩(wěn)定性,需要對噪聲源中不同噪聲進行識別,針對主要噪聲進行相應(yīng)處理。本文工作首先對陀螺中主要的幾種噪聲成分進行辨識,分析出對陀螺穩(wěn)定性影響最大的幾種噪聲;針對不同的噪聲成分設(shè)計了不同的處理算法,利用DSP能夠高效的完成數(shù)字信號處理算法的優(yōu)勢,設(shè)計了球碟轉(zhuǎn)子式陀螺信號采集和處理系統(tǒng)對算法進行驗證。在對陀螺靜態(tài)輸出信號進行分析后,發(fā)現(xiàn)球碟轉(zhuǎn)子式陀螺的輸出信號中具有較多的奇異點,同時具有線性漂移誤差。針對奇異項誤差,本文在拉依達準則的基礎(chǔ)上,提出了改進拉依達去除奇異項算法;針對線性漂移誤差,本文利用慣性系統(tǒng)中常見的陀螺加速度計組合出現(xiàn)的特點,設(shè)計了穩(wěn)態(tài)判斷動態(tài)補償線性漂移的去趨勢項算法,該算法具有成本低,實現(xiàn)簡單等特點。對于球碟轉(zhuǎn)子式陀螺中的隨機噪聲,本文研究了LMS(Least Mean Square)在陀螺去噪中應(yīng)用的優(yōu)勢以及缺陷,最終采用了LMS算法的改進算法VSS(Variable step size)算法作為球碟轉(zhuǎn)子式陀螺處理算法,該算法具有良好的噪聲處理效果并具有較快的收斂速度。為驗證算法的正確性,本文設(shè)計了陀螺信號采集處理系統(tǒng),該系統(tǒng)采用高性能DSP芯片TMS320F28335,高精度ADC芯片AD7606,最終可以實現(xiàn)最高200KHz的采樣速率對球碟轉(zhuǎn)子式陀螺輸出信號進行采集。對算法以及采集處理系統(tǒng)進行驗證,結(jié)果證明本文設(shè)計的算法對奇異項誤差可以良好的去除;對趨勢項誤差的動態(tài)補償性能良好;經(jīng)過自適應(yīng)濾波算法陀螺穩(wěn)定性得到了大幅度提升。最終實現(xiàn)了陀螺的偏置不穩(wěn)定性最大值從19.19°/h下降到了4.716°/h,顯著提高了陀螺偏置穩(wěn)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 擄/ h to 4.716 擄/ h, and the bias stability of gyroscope is improved significantly.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TN96

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