一种基于Haar小波的光纤陀螺信号实时滤波方法  

Real-time filtering method of FOG signal based on Haar wavelet

作　　者：曲俊海 夏元清[1] 李静[2] 王海稳[3] QU Junhai;XIA Yuanqing;LI Jing;WANG Haiwen(College of Automation,Beijing Institute of Technology,Beijing 100081,China;North Automatic Control Technology Institute,Taiyuan 030006,China;College of Electronic and Information,Taiyuan University of Science&Technology,Taiyuan 030024,China)

机构地区：[1]北京理工大学自动化学院,北京100081 [2]北方自动控制技术研究所,太原030006 [3]太原科技大学电子信息工程学院,太原030024

出　　处：《中国惯性技术学报》2019年第5期677-683,共7页Journal of Chinese Inertial Technology

基　　金：北京自然科学基金（4161001）;国家自然科学基金国际合作与交流项目（61720106010）;创新研究群体科学基金（61621063)

摘　　要：为了改善惯性稳定平台控制系统中光纤陀螺信号质量,提出了一种基于Haar小波的光纤陀螺信号实时滤波方法。首先通过仿真,说明了影响现有小波方法实时滤波效果的根源,即边界问题;进而通过理论分析,对边界问题产生的原因进行深入剖析,并从支撑集和对连续阶梯信号的逼近两个层面,详细论证了Haar小波对于光纤陀螺信号实时滤波的适用性;最后提出一种基于Haar小波的实时陀螺信号滤波方法,既利用了小波优越的信号-噪声分离能力,又可满足实时应用背景的要求,完全适用于惯性稳定平台控制系统中的光纤陀螺信号滤波。经试验验证,此方法具备很好的陀螺实时滤波性能,滤波后信号的随机噪声可降低40%以上,使用滤波后陀螺信号闭环后,惯性稳定平台控制系统的稳定精度可以提升14%。Aiming at improving the quality of fiber optic gyroscope(FOG)signal in the inertial stabilization platform control system,a real-time software filtering method of FOG signal based on Haar wavelet is proposed.Firstly,it is illustrated by sufficient simulations that the boundary problem is the source that affects the real-time filtering effect of existing wavelet methods.Then,through theoretical analysis,the reason for the boundary problem is analyzed,and Haar wavelet’s feasibility for real-time filtering of FOG signal is certified from two aspects,i.e.the support set and the continuous ladder signal approximation.Finally,the real-time gyro signal filtering method based on Haar wavelet is proposed,which not only takes advantage of the strong signal-noise separation capability of wavelet,but also can meet the requirements of real-time application background,and is fully applicable to the signal filtering of FOG in the control system of the inertial stable platform.The experiment shows that the proposed method has good real-time filtering performance,and the random noise of the filtered signal can be reduced by more than 40%.After using filtered gyro signal in closed loop control,the stability accuracy of the inertial stabilization platform control system can be increased by 14%.

关 键 词：小波 光纤陀螺 实时滤波 边界问题 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]