【摘要】：固定翼時間域航空電磁勘查系統(tǒng)測量飛行中,三分量感應(yīng)線圈傳感器隨吊艙的擺動發(fā)生姿態(tài)變化并產(chǎn)生振動,其姿態(tài)變化和振動對固定翼時間域航空電磁系統(tǒng)的測量性能有很大影響。論文課題依托于國家863計劃重大項目研究子課題“固定翼時間域航空電磁系統(tǒng)實用化”,對國產(chǎn)固定翼時間域航空電磁勘查系統(tǒng)的接收吊艙以及內(nèi)部航空感應(yīng)線圈的位姿數(shù)據(jù)采集系統(tǒng)進行研究。主要完成測量飛行中吊艙和吊艙內(nèi)懸掛在特殊星形結(jié)構(gòu)避振裝置上的三分量感應(yīng)線圈的位姿數(shù)據(jù)采集與收錄工作,完成對三分量感應(yīng)線圈運動姿態(tài)數(shù)據(jù)的分析,求解其姿態(tài)變化規(guī)律和振動等參數(shù)。用以對勘查系統(tǒng)數(shù)據(jù)做校正參考,提高勘查系統(tǒng)數(shù)據(jù)的準(zhǔn)確性,從而提高系統(tǒng)的勘查性能。針對接收吊艙狹小空間和電池供電的條件限制,大型高耗能的姿態(tài)測量儀器無法使用的問題,提出了一種基于嵌入式處理器的小型低功耗的物體運動姿態(tài)檢測收錄系統(tǒng)設(shè)計方案。設(shè)計選用STM32嵌入式處理器移植FATFS文件系統(tǒng)寫SD卡的方式,完成姿態(tài)數(shù)據(jù)和GPS數(shù)據(jù)的收錄功能,利用計算機完成姿態(tài)數(shù)據(jù)的解算與分析工作。原始姿態(tài)數(shù)據(jù)通過LABVIEW軟件編寫的數(shù)據(jù)預(yù)處理軟件,完成數(shù)據(jù)格式轉(zhuǎn)換及解析;通過Savitzky-Golay濾波器對姿態(tài)數(shù)據(jù)進行平滑去噪;通過四元數(shù)算法對收錄的姿態(tài)數(shù)據(jù)進行解算。以上過程實現(xiàn)對物體運動姿態(tài)數(shù)據(jù)的收錄處理,通過時域分析和頻域分析完成對數(shù)據(jù)的分析工作。最終設(shè)計完成一套包括硬件采集和軟件處理的位姿數(shù)據(jù)采集系統(tǒng),并成功應(yīng)用于固定翼時間域航空電磁勘查系統(tǒng)測量飛行中,系統(tǒng)工作穩(wěn)定并采集了大量姿態(tài)數(shù)據(jù)。通過對數(shù)據(jù)的分析,最終實現(xiàn)了對吊艙減振裝置的數(shù)據(jù)反饋。
[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.
【學(xué)位授予單位】：北華航天工業(yè)學(xué)院
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP274.2

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