基于Kalman的动态角度测量方法研究  

Research on the dynamic angle measurement method based on Kalman

作　　者：马新宇 朱维斌 黄垚 邹伟 薛梓[2] Ma Xinyu;Zhu Weibin;Huang Yao;Zou Wei;Xue Zi(School of Metrology and Measurement Engineering,China Jiliang University,Hangzhou 310018,China;National Institute of Metrology,Beijing 100029,China)

机构地区：[1]中国计量大学计量测试工程学院,杭州310018 [2]中国计量科学研究院,北京100029

出　　处：《仪器仪表学报》2023年第3期119-127,共9页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(52175526);国家质量监督检验检疫总局科技计划(2016QK189)项目资助。

摘　　要：为了保证转台测角系统动态角度测量的准确性,研究了一种基于Kalman滤波的动态角度测量方法。阐述了动态角度测量方法原理,详细解释了基于Kalman滤波的参数优化模型和动态预测模型;根据测量精度要求设计动态角度测量电路,基于现场可编程门阵列(FPGA)平台实现转台发生角度值实时预测;开展加速度为10°/s2的匀加速运动工况仿真实验,以转台发生角度理论值为参考验证方法有效性;搭建转台实验平台,以环形激光陀螺仪为测量参考值验证动态角度测量方法应用效果。实验结果证明提出的动态角度测量方法可有效减小转台测角系统测量延时引入的系统误差,在转速为30°/s时延时误差由-82.62″减小至-0.01″,在各种转速下能够保持测量结果一致性,有效提升转台测角系统动态测量精度。To ensure the accuracy of the dynamic angle measurement results for the turntable angle measurement system,a dynamic angle measurement method based on Kalman filtering is studied in this article.The principle of dynamic angle measurement method is described,and the parameter optimization model and dynamic prediction model based on Kalman filtering are explained in detail.The dynamic angle measurement circuit is designed according to the requirements of measurement accuracy,and the real-time prediction of the turntable angle is realized based on the field programmable gate array platform.The simulation experiment of constant acceleration motion is implemented with acceleration of 10°/s?,and the validity of the method is verified by taking the theoretical value of turntable angle as a reference.A turntable experimental platform is established to evaluate the application effect of the dynamic angle measurement method with the ring laser gyro as the reference value.Experimental results show that the proposed dynamic angle measurement method can effectively reduce the system error introduced by the measurement delay of the turntable angle measurement system.The error is reduced from-82.62"to-0.01"at the speed of 30°/s,the consistency of measurement results can be maintained at various speeds,and effectively improve the dynamic measurement accuracy of the turntable angle measurement system.

关 键 词：动态角度测量 延时误差 KALMAN滤波 预测补偿 

分 类 号：TH7[机械工程—仪器科学与技术]