惯性平台系统摇摆条件下的漂移处理方法  

An Inertial Platform Drift Processing Method on Rocking Base

作　　者：张金云[1] 郭宗本[1] 刘伟[1] 杨震[1] 闫禄[1] 

机构地区：[1]北京航天控制仪器研究所

出　　处：《导航与控制》2015年第5期94-100,52,共8页Navigation and Control

摘　　要：惯性平台在摇摆条件下,由于轴端摩擦力矩的存在,导致在摇摆运动时影响平台稳定性,引起平台各轴附加常值漂移。介绍了两种惯性平台摇摆条件下的漂移处理方法,第一种方法利用平台轴端框架角传感器的输出数据,首先使用离散傅里叶变换得到数据频谱,其次根据数据频谱设计数字滤波器,对得到的数据进行滤波处理,最后使用线性回归法对滤波后的数据进行拟合,从而得到摇摆条件下平台摇摆漂移;第二种方法使用加速度计的输出,根据敏感的加速度可以得到敏感轴与重力加速度的角度,由此计算出摇摆过程的漂移速度。实验表明,频谱分析法可以进行三个方向的计算,但台体轴结果的稳定性不好;加速度输出拟合方法虽只可进行两个方向的计算,但稳定性较好。If the inertial platform is on the rocking base,the frictional torques will impact the stability of the inertial platform and cause the const rocking drift.This article introduces two inertial platform drift error processing methods on rocking base,one method is using the output data of the shaft end frame angle sensor.Firstly,get the data spectrum by the discrete Fourier transform;Secondly,according to the data spectrum,design the digital filter and filter the obtained data;Finally,the filtered data will be fitted by using linear regression method,after these steps,get the platform drift under the swing conditions.The other method is using the output of the accelerometer,according to the acceleration,the angle can be got between sensitive axis of accelerometer and gravity.This method can realize the computation of the platform drift on rocking base.Many experiments are conducted to prove that the frequency spectrum analysis can be carried out in three directions,but the stability of the platform axis is not good.Although the acceleration output fitting method can calculate two directions,the stability of the result is better.

关 键 词：惯性平台系统 离散傅里叶变换 数字滤波器 线性回归法 

分 类 号：TN96[电子电信—信号与信息处理]