船用稳定跟踪平台关键技术研究
|
摘要
船用稳定跟踪平台是船舶可搭载的重要试验设备,它能够不断地测量平台的姿态和位置的变化,以隔离船舶在大海中由于受到各种扰动带来的影响,保持平台架设设备的姿态稳定；并通过跟踪控制,带动架设设备指向跟踪目标,完成既定任务。目前,关于船用稳定跟踪平台的研究发展迅速,其应用也越加广泛。本文以某综合试验平台系统为背景,在进行系统总体设计的基础上,着重讨论了船用稳定跟踪平台分系统的GPS跟踪控制及GPS姿态信息的滤波。本论文主要对以下几个方面进行了研究：
根据综合试验平台系统的使用要求,确定整个系统的结构组成,在此基础上,对各个分系统进行分析,明确各分系统的组成原理及实现功能,并对分系统的主要组成元件进行了选择。
研究利用GPS动态定位信息对稳定跟踪平台进行跟踪控制,分析、明确实现过程,包括差分定位的实现和稳定跟踪平台转动角度的计算,并进行平台跟踪控制系统的硬件设计及控制算法的软件设计。
研究利用小波分析方法对稳定跟踪平台的含噪GPS姿态信息进行降噪处理,分析小波变换去噪原理、去噪方法和姿态信息误差产生原因,研究采用小波阈值去噪法对姿态信息去噪的实现过程。
最后,对GPS跟踪控制效果和小波去噪算法分别进行检验和分析。利用红外跟踪器的输出信息对GPS跟踪控制效果进行检验,证明满足动态跟踪精度。分析小波阈值去噪法中不同作用因素的影响,构造出综合性能较好的去噪方法,并将时域均值去噪与小波去噪的数据处理结果进行对比,体现小波分析方法的特点。
The stabilized and automatic pointing and tracking platform of the ship is an important experimental equipment fixed on the ship. The equipment fixed on the platform could be kept steady by the platform and the change of platform's motion and position could also be measured continuously by the platform, so that the various disturbances can be separated while the ship navigating. The equipment fixed on the platform will be controlled to point the target by the tracking control and complete the task. Recently, the study of the stabilized and automatic pointing and tracking platform of the ship has been developed rapidly. In the context of the integrated experimental platform, how to track the target by GPS information and how to filter the GPS attitude information in the system of the stabilized and automatic pointing and tracking platform of the ship are mainly discussed in the paper based on the system total design. Following are the main works and the result of the thesis:
Firstly, the function of the integrated experimental platform is analyzed to make certain the composition of the whole system. The subsystems are analyzed to understand the principle and function of themselves. Also, the main components of the subsystems are selected.
Secondly, how to use the accurate kinematic positioning information of GPS to take the track controlling is studied. The process of this way is analyzed and understood, including the achievement of the real-time kinematic positioning and the computing of the angle of the platform turning. And also, the hardware of the system of tracking control and the software arithmetic of the control are designed.
It is studied that the method of wavelet analysis is used to denoise the GPS attitude information of the platform. The principle of the wavelet analysis and the method of the wavelet denoising are analyzed and the reasons why the attitude information has the noise are understood. Therefore, the method of the wavelet denoising is used to denoise the attitude signals and the process of this way is studied.
Finally, the effect of the tracking control with GPS and the arithmetic of the wavelet denoising are analyzed and verified seperately. It is proved that the result of the tracking control with GPS meets the requirement by means of the data which is output from the infrare equipment. Also, the effects of the different factors in the method of the wavelet denoising are analyzed to make up the proper method. It is indicated that the method of the wavelet denoising is better by comparing the results of the average denoising and the wavelet denoising.
根据综合试验平台系统的使用要求,确定整个系统的结构组成,在此基础上,对各个分系统进行分析,明确各分系统的组成原理及实现功能,并对分系统的主要组成元件进行了选择。
研究利用GPS动态定位信息对稳定跟踪平台进行跟踪控制,分析、明确实现过程,包括差分定位的实现和稳定跟踪平台转动角度的计算,并进行平台跟踪控制系统的硬件设计及控制算法的软件设计。
研究利用小波分析方法对稳定跟踪平台的含噪GPS姿态信息进行降噪处理,分析小波变换去噪原理、去噪方法和姿态信息误差产生原因,研究采用小波阈值去噪法对姿态信息去噪的实现过程。
最后,对GPS跟踪控制效果和小波去噪算法分别进行检验和分析。利用红外跟踪器的输出信息对GPS跟踪控制效果进行检验,证明满足动态跟踪精度。分析小波阈值去噪法中不同作用因素的影响,构造出综合性能较好的去噪方法,并将时域均值去噪与小波去噪的数据处理结果进行对比,体现小波分析方法的特点。
The stabilized and automatic pointing and tracking platform of the ship is an important experimental equipment fixed on the ship. The equipment fixed on the platform could be kept steady by the platform and the change of platform's motion and position could also be measured continuously by the platform, so that the various disturbances can be separated while the ship navigating. The equipment fixed on the platform will be controlled to point the target by the tracking control and complete the task. Recently, the study of the stabilized and automatic pointing and tracking platform of the ship has been developed rapidly. In the context of the integrated experimental platform, how to track the target by GPS information and how to filter the GPS attitude information in the system of the stabilized and automatic pointing and tracking platform of the ship are mainly discussed in the paper based on the system total design. Following are the main works and the result of the thesis:
Firstly, the function of the integrated experimental platform is analyzed to make certain the composition of the whole system. The subsystems are analyzed to understand the principle and function of themselves. Also, the main components of the subsystems are selected.
Secondly, how to use the accurate kinematic positioning information of GPS to take the track controlling is studied. The process of this way is analyzed and understood, including the achievement of the real-time kinematic positioning and the computing of the angle of the platform turning. And also, the hardware of the system of tracking control and the software arithmetic of the control are designed.
It is studied that the method of wavelet analysis is used to denoise the GPS attitude information of the platform. The principle of the wavelet analysis and the method of the wavelet denoising are analyzed and the reasons why the attitude information has the noise are understood. Therefore, the method of the wavelet denoising is used to denoise the attitude signals and the process of this way is studied.
Finally, the effect of the tracking control with GPS and the arithmetic of the wavelet denoising are analyzed and verified seperately. It is proved that the result of the tracking control with GPS meets the requirement by means of the data which is output from the infrare equipment. Also, the effects of the different factors in the method of the wavelet denoising are analyzed to make up the proper method. It is indicated that the method of the wavelet denoising is better by comparing the results of the average denoising and the wavelet denoising.
引文
[1]姬伟.陀螺稳定光电跟踪平台伺服控制系统研究.东南大学博士学位论文.2006：1-2页
[2]Steven L.chodos. Track Loop Bandwidth, Sensor Sample Frequency, and Track Loop Delays[C]. SPIE Conference on Acquisition, Tracking and PointingⅫ,1998,3365:69-76P
[3]庞新良.机载光电稳定平台数字控制关键技术研究.国防科学技术大学博士学位论文.2007：1-2页
[4]Juang J C, Huang G S. Development of GPS-based attitude determination algorithms. IEEE Transactions on Aerospace and Electronic Systems.1997, 33(3):968-976P
[5]Ferrando C, Perez A, Sanchez Pena R S. Integer ambiguity resolution in GPS for spinning spacecrafts. IEEE Transactions on Aerospace and Electronic Systems.1999,35(4):1219-1229P
[6]Noureldin, A., Sharaf, R., Osman, A., INS/GPS Data Fusion Technique utillzing radial basic functions neural newtorks, Position Location and Nvaigation SymPosium,2004:280-284P
[7]Chris Mensah Bonsu, Gerald Thomas Heydt, Real-Time Digital Processing of GPS Measurements for Transmission Engineering, IEEE Transactions on Power Delivery,2003,18(1):177-182P
[8]乐波.基于混沌振子与小波的低信噪比信号检测研究与应用.电子科技大学博士学位论文.2009：5-7页
[9]韦力强.基于小波变换的信号去噪研究.湖南大学硕士学位论文.2007：2-3页
[10]A Gersho and B. Ramaurthi. Image Coding Using Vector Quantization.in Proc. IEEE Int, Conf. Acoust, speech signal Processing, May 1982, 428-431P
[11]Mallat S. Multrieresolution Approximations and Wavelet Orthonormal Bases of L2(R). Trans. Amer. Math. Soc.,1989,9:69-87P
[12]Mallat S.A Theory for Multiiresolution Signal Decomposition. IEEE Trans.On PAMI,1989,11(7):674-693P
[13]Coifman.R et al. Entropy based algorithm for best basis selection. IEEE Trans. Inform. Theory,1992,38(2):713-718P
[14]李成.基于提升小波的数据处理及过程监测研究.浙江大学博士学位论文.2005：6-7页
[15]Sweledens W., The litfing scheme:A custom-design construction of biorthogonal wavelets, J. Appl. Comput. Hmaronic Analysis,1996,3, 864-872P
[16]Li Honggang, Qiao Wang and Lenan Wu, A Novel Design of Lifting Scheme from General Wavelet, IEEE Trnasactions on signal proeessing, 2001,49(8):1714-1717P
[17]戴宏亮,羿旭明.A尺度紧支撑双正交小波的提升格式的构造.武汉大学学报(理学版).2003：49(1),17-20页
[18]邓玉娟.基于小波变换的语音阂值去噪算法研究.重庆大学硕士学位论文.2009：2-3页
[19]郭显久.小波与细分方法在图像处理中的应用研究.大连理工大学博士学位论文.2008：2-4页
[20]王芳.小波分析在信号去噪中的应用研究.西华大学硕士学位论文.2009：3-5页
[21]张佃昌.小波技术在信号重构及去噪中的应用研究.山东大学硕士学位论文.2007：2-3页
[22]陈德智,唐雷,盛剑霓等.由小波变换的模极大值快速重构信号.电子 学报.1998,26(9)：82-85页
[23]刘贵忠,张志明,冯牧等.信号重构的小波极大值整形迭代算法.自然科学进展.2000,10(7)：660-664页
[24]赵瑞珍.小波理论及其在图像_信号处理中的算法研究.西安电子科技大学博士学位论文.2001：49-52页
[25]潘泉,戴冠中,张洪才,张磊.基于阈值决策的子波域去噪方法.电子学报.1998,26(1)：115-117页
[26]陆维维.GPS动态载波相位测量技术研究及应用.河海大学硕士学位论文.2006：3-4页
[27]王仁谦.GPS动态定位的理论研究.中南大学博士学位论文.2004：7-10页
[28]Teunissen P J G. A New Methde for Fast Carrier Phase Ambiguity Estimation[A]. Pocreedings of IEEE PLANS-94[C], Las Vegas, Nevada, Apr.1994:562-573P
[29]Teunissen P J G. The least-squares, ambiguity decorrelation adjustment:a method for fast GPS integer ambiguity estimation. Journal of Geodesy.1995: 567-571P
[30]Dingsheng Chen. Development of a Fast Ambiguity Seareh Filtering (FASF) Method for GPS Carrier Phase Ambiguity Resolution. The PhD Thesis of University of Calgary.1994:11-25P
[31]Mohamed A H, Sehwarz K P. A Simple and Economical Algorithm for GPS Ambiguity Resolution on the Fly Using a Whietning Filetr. Nvaigation. 1998,45(3):221-231P
[32]叶晓清.机载GPS实时精密定位技术研究.西北工业大学硕士学位论文.2004：6页
[33]HumingWu.On-The-Fly GPS Ambiguity Resolution with Inertial Aiding. The PhD Thesis of University of Calgary.2003:7P
[34]姬生月,胡国荣.一种新的GPS整周模糊度快速解算方法.铁道学报.2000,22(6)：95-98页
[35]郑庆晖,张育林.基于遗传算法的整周模糊度OTF解算.国防科技大学学报.2001.23(3)：2-17页
[36]JAVAD GNSS Inc. Lexon-GGD112T:1-2P
[37]JAVAD GNSS Inc. JNSGyro-4:5-6P
[38]李俊毅.GPS姿态测量及相关技术的研究.解放军信息工程大学硕士学位论文.2004：12-13页
[39]苏奎峰,吕强,常天庆,张永秀TMS320X281xDSP原理及C程序开发.北京：北京航空航天大学出版社,2008：2-3页,160页
[40]彭玉海.基于PMAC的数控系统研究与开发.西安理工大学硕士学位论文.2007：10-11页
[41]李宗冰.基于DSP的稳定平台伺服控制系统的设计.南京理工大学硕士学位论文.2008：47-48页
[42]宋洪涛.基于DSP的平台稳定系统模糊自适应控制研究.哈尔滨工程大学硕士学位论文.2007：27页
[43]李军.三轴稳定平台控制系统的设计与仿真研究.南京理工大学硕士学位论文.2009：36-37页
[44]胡昌华,李国华,刘涛,周志杰.基于MATLAB 6.x的系统分析与设计—小波分析.第二版.西安：西安电子科技大学出版社,2004：5-6页
[45]黄宜军.小波神经网络及其在飞控系统中的应用研究.西北工业大学博士学位论文.2006：1-2页
[46]田养军.基于提升小波分解曲波变换的多源遥感图像融合方法研究.长安大学博士学位论文.2009：18-19页
[47]赵欣.三轴仿真转台伺服控制卡的设计及滤波算法的研究.哈尔滨工业大学硕士学位论文.2007：49页
[48]郭彩立.基于小波分析的GPS数据处理理论及其应用研究.重庆大学硕 士学位论文.2007：53页,60页
[49]李玉峰.小波分析在图像去噪与压缩中的应用研究.中国科学院研究生院博士学位论文.2005：35页
[50]吴勇.基于小波的信号去噪方法研究.武汉理工大学硕士学位论文.2007：35页
[51]张建良.基于小波变换的语音信号的噪声处理研究.兰州大学硕士学位论文.2007：20页
[52]万德钧,房建成,王庆.GPS动态滤波的理论、方法及其应用.南京：江苏科学技术出版社,2000：66页
[53]李明峰,冯宝红,刘三枝.GPS定位技术及其应用.北京：国防工业出版社,2005：98页
[54]张万宏.非平稳时间序列的预测方法研究.兰州理工大学硕士学位论文.2007：17页
[2]Steven L.chodos. Track Loop Bandwidth, Sensor Sample Frequency, and Track Loop Delays[C]. SPIE Conference on Acquisition, Tracking and PointingⅫ,1998,3365:69-76P
[3]庞新良.机载光电稳定平台数字控制关键技术研究.国防科学技术大学博士学位论文.2007：1-2页
[4]Juang J C, Huang G S. Development of GPS-based attitude determination algorithms. IEEE Transactions on Aerospace and Electronic Systems.1997, 33(3):968-976P
[5]Ferrando C, Perez A, Sanchez Pena R S. Integer ambiguity resolution in GPS for spinning spacecrafts. IEEE Transactions on Aerospace and Electronic Systems.1999,35(4):1219-1229P
[6]Noureldin, A., Sharaf, R., Osman, A., INS/GPS Data Fusion Technique utillzing radial basic functions neural newtorks, Position Location and Nvaigation SymPosium,2004:280-284P
[7]Chris Mensah Bonsu, Gerald Thomas Heydt, Real-Time Digital Processing of GPS Measurements for Transmission Engineering, IEEE Transactions on Power Delivery,2003,18(1):177-182P
[8]乐波.基于混沌振子与小波的低信噪比信号检测研究与应用.电子科技大学博士学位论文.2009：5-7页
[9]韦力强.基于小波变换的信号去噪研究.湖南大学硕士学位论文.2007：2-3页
[10]A Gersho and B. Ramaurthi. Image Coding Using Vector Quantization.in Proc. IEEE Int, Conf. Acoust, speech signal Processing, May 1982, 428-431P
[11]Mallat S. Multrieresolution Approximations and Wavelet Orthonormal Bases of L2(R). Trans. Amer. Math. Soc.,1989,9:69-87P
[12]Mallat S.A Theory for Multiiresolution Signal Decomposition. IEEE Trans.On PAMI,1989,11(7):674-693P
[13]Coifman.R et al. Entropy based algorithm for best basis selection. IEEE Trans. Inform. Theory,1992,38(2):713-718P
[14]李成.基于提升小波的数据处理及过程监测研究.浙江大学博士学位论文.2005：6-7页
[15]Sweledens W., The litfing scheme:A custom-design construction of biorthogonal wavelets, J. Appl. Comput. Hmaronic Analysis,1996,3, 864-872P
[16]Li Honggang, Qiao Wang and Lenan Wu, A Novel Design of Lifting Scheme from General Wavelet, IEEE Trnasactions on signal proeessing, 2001,49(8):1714-1717P
[17]戴宏亮,羿旭明.A尺度紧支撑双正交小波的提升格式的构造.武汉大学学报(理学版).2003：49(1),17-20页
[18]邓玉娟.基于小波变换的语音阂值去噪算法研究.重庆大学硕士学位论文.2009：2-3页
[19]郭显久.小波与细分方法在图像处理中的应用研究.大连理工大学博士学位论文.2008：2-4页
[20]王芳.小波分析在信号去噪中的应用研究.西华大学硕士学位论文.2009：3-5页
[21]张佃昌.小波技术在信号重构及去噪中的应用研究.山东大学硕士学位论文.2007：2-3页
[22]陈德智,唐雷,盛剑霓等.由小波变换的模极大值快速重构信号.电子 学报.1998,26(9)：82-85页
[23]刘贵忠,张志明,冯牧等.信号重构的小波极大值整形迭代算法.自然科学进展.2000,10(7)：660-664页
[24]赵瑞珍.小波理论及其在图像_信号处理中的算法研究.西安电子科技大学博士学位论文.2001：49-52页
[25]潘泉,戴冠中,张洪才,张磊.基于阈值决策的子波域去噪方法.电子学报.1998,26(1)：115-117页
[26]陆维维.GPS动态载波相位测量技术研究及应用.河海大学硕士学位论文.2006：3-4页
[27]王仁谦.GPS动态定位的理论研究.中南大学博士学位论文.2004：7-10页
[28]Teunissen P J G. A New Methde for Fast Carrier Phase Ambiguity Estimation[A]. Pocreedings of IEEE PLANS-94[C], Las Vegas, Nevada, Apr.1994:562-573P
[29]Teunissen P J G. The least-squares, ambiguity decorrelation adjustment:a method for fast GPS integer ambiguity estimation. Journal of Geodesy.1995: 567-571P
[30]Dingsheng Chen. Development of a Fast Ambiguity Seareh Filtering (FASF) Method for GPS Carrier Phase Ambiguity Resolution. The PhD Thesis of University of Calgary.1994:11-25P
[31]Mohamed A H, Sehwarz K P. A Simple and Economical Algorithm for GPS Ambiguity Resolution on the Fly Using a Whietning Filetr. Nvaigation. 1998,45(3):221-231P
[32]叶晓清.机载GPS实时精密定位技术研究.西北工业大学硕士学位论文.2004：6页
[33]HumingWu.On-The-Fly GPS Ambiguity Resolution with Inertial Aiding. The PhD Thesis of University of Calgary.2003:7P
[34]姬生月,胡国荣.一种新的GPS整周模糊度快速解算方法.铁道学报.2000,22(6)：95-98页
[35]郑庆晖,张育林.基于遗传算法的整周模糊度OTF解算.国防科技大学学报.2001.23(3)：2-17页
[36]JAVAD GNSS Inc. Lexon-GGD112T:1-2P
[37]JAVAD GNSS Inc. JNSGyro-4:5-6P
[38]李俊毅.GPS姿态测量及相关技术的研究.解放军信息工程大学硕士学位论文.2004：12-13页
[39]苏奎峰,吕强,常天庆,张永秀TMS320X281xDSP原理及C程序开发.北京：北京航空航天大学出版社,2008：2-3页,160页
[40]彭玉海.基于PMAC的数控系统研究与开发.西安理工大学硕士学位论文.2007：10-11页
[41]李宗冰.基于DSP的稳定平台伺服控制系统的设计.南京理工大学硕士学位论文.2008：47-48页
[42]宋洪涛.基于DSP的平台稳定系统模糊自适应控制研究.哈尔滨工程大学硕士学位论文.2007：27页
[43]李军.三轴稳定平台控制系统的设计与仿真研究.南京理工大学硕士学位论文.2009：36-37页
[44]胡昌华,李国华,刘涛,周志杰.基于MATLAB 6.x的系统分析与设计—小波分析.第二版.西安：西安电子科技大学出版社,2004：5-6页
[45]黄宜军.小波神经网络及其在飞控系统中的应用研究.西北工业大学博士学位论文.2006：1-2页
[46]田养军.基于提升小波分解曲波变换的多源遥感图像融合方法研究.长安大学博士学位论文.2009：18-19页
[47]赵欣.三轴仿真转台伺服控制卡的设计及滤波算法的研究.哈尔滨工业大学硕士学位论文.2007：49页
[48]郭彩立.基于小波分析的GPS数据处理理论及其应用研究.重庆大学硕 士学位论文.2007：53页,60页
[49]李玉峰.小波分析在图像去噪与压缩中的应用研究.中国科学院研究生院博士学位论文.2005：35页
[50]吴勇.基于小波的信号去噪方法研究.武汉理工大学硕士学位论文.2007：35页
[51]张建良.基于小波变换的语音信号的噪声处理研究.兰州大学硕士学位论文.2007：20页
[52]万德钧,房建成,王庆.GPS动态滤波的理论、方法及其应用.南京：江苏科学技术出版社,2000：66页
[53]李明峰,冯宝红,刘三枝.GPS定位技术及其应用.北京：国防工业出版社,2005：98页
[54]张万宏.非平稳时间序列的预测方法研究.兰州理工大学硕士学位论文.2007：17页