挠性陀螺EMD-ARIMA漂移模型设计与应用  

Design and application of EMD-ARIMA drift model for flexible gyro

作　　者：蔡曜 司玉辉 王玉琢 黄涛 张亚静 杨晓龙 CAI Yao;SI Yuhui;WANG Yuzhuo;HUANG Tao;ZHANG Yajing;YANG Xiaolong(Xi’an Aerospace Precision Mechatronics Institute,Xi’an 710100,China)

机构地区：[1]西安航天精密机电研究所,西安710100

出　　处：《北京航空航天大学学报》2024年第11期3434-3444,共11页Journal of Beijing University of Aeronautics and Astronautics

摘　　要：为降低挠性陀螺的漂移率,提高挠性陀螺的精度,基于经验模态分解(EMD)、求和自回归移动平均(ARIMA)2种信号处理工具,提出EMD-ARIMA漂移模型。设计野点剔除算子,避免EMD过程中出现过冲、欠冲问题;对本征模态函数(IMF)辨识进行讨论,制定各阶IMF的使用原则;设计自适应定阶寻优算子,避免依靠技术人员判读自相关图、偏自相关图进行ARIMA建模,实现对多个信号(或多阶IMF)进行EMD-ARIMA建模的批处理功能。将重构的拟合信号和原始信号进行对比。工程实践表明:最终重构的拟合信号较原始信号漂移率降低了12.8%;Allan方差各项误差源均降低,MAPE为3.6×10^(-3),RMSE为5.1×10^(-3),残差趋于白噪声;漂移模型在挠性陀螺漂移建模中,具有同路重复性、两路一致性、不同个体通用性。In order to reduce the drift rate of the flexible gyro and improve the precision of the flexible gyro,EMD-ARIMA drift model was proposed based on empirical mode decomposition(EMD)and autoregressive integrated moving average(ARIMA)signal processing tools.The outfield removal operator is designed to avoid the overshoot and undershoot problems in the EMD process.The identification of the intrinsic mode function(IMF)is discussed,and the principles for the use of IMF at various levels are formulated.By depending on technical staff to interpret autocorrelation and partial autocorrelation graphs and to implement the batch processing function of EMD-ARIMA modeling for multiple signals(or multi-order IMFs),the adaptive order optimization operator is intended to avoid ARIMA modelling.Comparing the reconstructed fitting signal with the original signal,the engineering practice shows that the drift rate of the final reconstructed fitting signal is 12.8%lower than that of the original signal.All the error sources of Allan variance are reduced.Meanwhile,the MAPE is 3.6×10^(-3),and the RMSE is 5.1×10^(-3).The drift model in flexible gyro drift modeling possesses the qualities of universality in many individuals,consistency in two ways,and repetition in one manner.

关 键 词：挠性陀螺 求和自回归移动平均模型 经验模态分解 野点剔除算子 自适应定阶寻优算子 

分 类 号：V241.559[航空宇航科学与技术—飞行器设计]