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陀螺动态寻北算法目前普遍采用动态测试结合数据拟合的方法,针对此方法处理动态测试数据存在去噪效果不强、数据存储运算量大的缺点,提出一种基于互相关函数消噪的快速动态寻北方案,推导了寻北原理公式。该方法先利用连续恒速的机械旋转将激光陀螺和加速度计的输出信号调制成一定频率的三角调幅波;然后,根据互相关函数同频相关,不同频不相关的性质,取两路相同频率的基准信号分别计算与陀螺和加速度计输出信号的互相关函数,以消除惯性器件漂移和噪声对寻北精度的影响。仿真结果表明,新算法可实现全姿态下的高精度陀螺寻北,30 s的方位角和姿态角误差小于0.01°。寻北实验结果表明,该算法对惯性器件测量过程中的各类噪声有很好的抑制作用,5 min寻北标准差达到32.7″,基本满足高精度寻北的需求。
At present, the dynamic north-seeking algorithm of gyro uses the method of dynamic test combined with data fitting. In order to deal with the dynamic test data with this method, it has some disadvantages such as low denoising effect and large amount of data storage operations. A fast de-noising method based on cross-correlation function Dynamic North search program, derived north seeking principle formula. In the method, the output signals of the laser gyro and the accelerometer are modulated into a triangular amplitude modulation wave of a certain frequency by using a continuous constant-speed mechanical rotation; and then, based on the intercorrelation function with same frequency and with different frequency, the two identical frequencies Of the reference signal were calculated and gyroscope and accelerometer output signal cross-correlation function to eliminate inertial device drift and noise on the north seeking accuracy. The simulation results show that the new algorithm can realize high-precision gyro northing in full attitude, and the 30-s azimuth and attitude angle errors are less than 0.01 °. The results of North-seeking experiment show that this algorithm can restrain all kinds of noise during the measurement of inertial device, and the standard deviation of north seeking in 5 min reaches 32.7 ", basically meeting the demand of finding north with high accuracy.