捷联惯导系统中光纤陀螺零漂信号分析与处理的研究
摘要
捷联惯性导航系统因其具有完全自主性和不受干扰的优势在军民领域尤其是军用领域得到了广泛的应用。捷联惯性导航系统精度的高低是衡量一个国家军事实力的重要标志之一。影响捷联惯性导航系统精度的因素很多,比如惯性敏感元件(陀螺和加速度计)的测量精度、信号处理的精度和速度以及姿态解算的算法等等。因此,在硬件实现和算法选择相同的条件下,惯性敏感元件(陀螺和加速度计)的测量精度就变得尤为重要。零漂是衡量陀螺仪性能的一个重要指标。目前,针对零漂的处理方式大多是对其进行建模,然后根据模型进行补偿,但是陀螺的漂移往往是弱非线性、非平稳、慢时变的,必须在线实时拟合模型、辨识参数才能达到补偿效果,这在实时系统中难于实现。
针对目前捷联惯性导航系统高精度的需求,本文基于目前广泛使用的惯性敏感元件光纤陀螺,在其零漂信号的分析与处理方面开展了如下的研究工作:
①对实验室的某型号光纤陀螺进行了测试,得到其零漂信号。采用Allan方差对光纤陀螺实测零漂信号进行分析,得到各噪声系数,再根据各噪声的形成机理找到光纤陀螺的噪声源,为提高光纤陀螺的精度提供参考价值。
②利用小波变换阈值滤波对光纤陀螺的零漂信号进行了直接滤波处理。研究了小波变换阈值滤波在光纤陀螺零漂信号处理中小波基、阈值、阈值作用方式和分解层数的选取原则,重点研究了小波基和阈值的选取。通过仿真试验得到了最佳的滤波方案。
③利用Allan方差得到光纤陀螺零漂信号滤波处理前和不同阈值条件下采用小波变换阈值滤波后各噪声系数的大小,定量地验证了滤波的效果。为光纤陀螺和其他类陀螺的零漂信号的处理提供了参考价值,从而提高其工程实用能力。
With full autonomy and uninterrupted advantages, strapdown inertial navigation system is widely used in the area of military and civilian, especially in military area. The accuracy of strapdown inertial navigation system is one of the important indicators of a country’s military strength. There are many factors which affect the accuracy of strapdown inertial navigation system, such as the measurement accuracy of inertial sensor (gyroscope and accelerometer), signal processing speed and accuracy ,posture solver algorithms. Therefore, under the same algorithm selection and hardware conditions, it is the measurement accuracy of gyroscope and accelerometer that becomes a very important factor. Drift is an important performance parameter of gyroscope. However, now most method of processing drift is making the model, and then compensating it according to the model, which is difficult to achieve in real-time system.
In this thesis, some work on the analysis and processing of the fiber optical gyroscope (FOG)’s drift signal have been done, which is based on the requirement of high-accuracy strapdown inertial navigation system. The following are the main content done in this thesis.
①The static test of a FOG is made, and the drift is gotten. Allan variance is studied, and the analysis of drift is made with Allan variance. The different noise coefficients of drift can also be gotten by Allan variance. The various noise sources are be gotten according to the different noise formation mechanism, which can afford a reference value for improve the accuracy of FOG.
②The drift signal of FOG is processed with wavelet transform threshold-value filtering. The selection principle of wavelet function, threshold-value, the action of threshold-value and decomposition level are studied, focus on the wavelet function and the threshold-value. The optimal filtering scheme is gotten through simulation.
③The different noise coefficients of FOG drift before and after different threshold-values filtering are gotten by Allan variance, which quantitatively verify the filtering result. Therefore, it provides a reference value for FOG and other gyroscope’s drift signal processing, and enhances their practical engineering ability to work.
针对目前捷联惯性导航系统高精度的需求,本文基于目前广泛使用的惯性敏感元件光纤陀螺,在其零漂信号的分析与处理方面开展了如下的研究工作:
①对实验室的某型号光纤陀螺进行了测试,得到其零漂信号。采用Allan方差对光纤陀螺实测零漂信号进行分析,得到各噪声系数,再根据各噪声的形成机理找到光纤陀螺的噪声源,为提高光纤陀螺的精度提供参考价值。
②利用小波变换阈值滤波对光纤陀螺的零漂信号进行了直接滤波处理。研究了小波变换阈值滤波在光纤陀螺零漂信号处理中小波基、阈值、阈值作用方式和分解层数的选取原则,重点研究了小波基和阈值的选取。通过仿真试验得到了最佳的滤波方案。
③利用Allan方差得到光纤陀螺零漂信号滤波处理前和不同阈值条件下采用小波变换阈值滤波后各噪声系数的大小,定量地验证了滤波的效果。为光纤陀螺和其他类陀螺的零漂信号的处理提供了参考价值,从而提高其工程实用能力。
With full autonomy and uninterrupted advantages, strapdown inertial navigation system is widely used in the area of military and civilian, especially in military area. The accuracy of strapdown inertial navigation system is one of the important indicators of a country’s military strength. There are many factors which affect the accuracy of strapdown inertial navigation system, such as the measurement accuracy of inertial sensor (gyroscope and accelerometer), signal processing speed and accuracy ,posture solver algorithms. Therefore, under the same algorithm selection and hardware conditions, it is the measurement accuracy of gyroscope and accelerometer that becomes a very important factor. Drift is an important performance parameter of gyroscope. However, now most method of processing drift is making the model, and then compensating it according to the model, which is difficult to achieve in real-time system.
In this thesis, some work on the analysis and processing of the fiber optical gyroscope (FOG)’s drift signal have been done, which is based on the requirement of high-accuracy strapdown inertial navigation system. The following are the main content done in this thesis.
①The static test of a FOG is made, and the drift is gotten. Allan variance is studied, and the analysis of drift is made with Allan variance. The different noise coefficients of drift can also be gotten by Allan variance. The various noise sources are be gotten according to the different noise formation mechanism, which can afford a reference value for improve the accuracy of FOG.
②The drift signal of FOG is processed with wavelet transform threshold-value filtering. The selection principle of wavelet function, threshold-value, the action of threshold-value and decomposition level are studied, focus on the wavelet function and the threshold-value. The optimal filtering scheme is gotten through simulation.
③The different noise coefficients of FOG drift before and after different threshold-values filtering are gotten by Allan variance, which quantitatively verify the filtering result. Therefore, it provides a reference value for FOG and other gyroscope’s drift signal processing, and enhances their practical engineering ability to work.
引文
[1]朱家海.惯性导航[M].北京:国防工业出版社,2008.
[2]陈永冰.惯性导航原理[M].北京:国防工业出版社,2007.
[3]秦永元.惯性导航[M].北京:科学出版社,2006.
[4]许江宁,朱涛,卞鸿巍.惯性传感技术与展望[J].海军工程大学学报,2007,19(3):1-5.
[5]张炎华,王立瑞,战兴群,翟传润.惯性导航技术的新进展及其发展[J].中国造船,2008,10:134-141.
[6]张天光,王秀萍,王丽霞.捷联惯性导航技术[M].北京:国防工业出版社,2007.
[7]袁信,郑鄂.捷联式惯性导航原理[M].北京:航空专业教材编审组,1985.
[8]关劲,程建华,吴磊,刘星伯,甘帅.船用平台式惯导系统状态转换技术的应用[J].中国造船,2008,49(2):75-80.
[9] Lefevre H C.光纤陀螺仪[M].北京:国防工业出版社,2002.
[10] Said Emre Alper, Tayfun Akin. A Single-Crystal Silicon Symmetrical and Decoupled MEMS Gyroscope on an Insulating Substrate[J]. Journal of microeletromechanical system,2005,VOL,14, NO.4:707-717.
[11]张桂才.光纤陀螺原理与技术[M].北京:国防工业出版社,2008.
[12] Lefevre H. The Fiber-Optical Gyroscope[M]. London:Artech house,1993.
[13] Shigeru Oho, Hiroshi Kajioka, Takao Sasayama. Optical Fiber Gyroscope for Automotive Navigation[J]. IEEE transactions on vehicular technology,VOL.44, NO.3:698-705.
[14] A. Yu, AS. Siddiqui. Theory of a Novel High Sensitivity Optical Fiber Gyroscope[J]. IEE Proceedings J,1993, VOL140, NO.2:150-156.
[15] V.E. Prilutskii, V.G. Ponamarev, A.G.Gubanov, Yu.N. Korkishko, V.A. Fedorov, S.M.Kostrit-skii, E.M. Paderin, V.S.Kritzak, A.I.Zuev. High-Precision Fiber Optical Gyroscope with Linear Digital Output[C]. Laser and Fiber-Optical Networks Modeling,2003. 5th Pacific Rim Conference on,2003:566.
[16]于强,郝燕玲.面向舰船应用的光纤陀螺工程化关键技术[J].舰船科学技术,2009,31(3):80-84.
[17]鲁浩,位晓峰,庞秀枝.惯性技术在精确制导武器中的应用与发展[J].电光与控制,2007,14(3):45-47.
[18]杨远洪,申彤,郭锦锦.光纤陀螺技术及应用[J].红外与激光工程,2007,36(5):626-631.
[19]刘兰芳,陈刚,金国良.光纤陀螺仪基本原理与分类[J].现代防御技术,2007,35(2):59-64.
[20] IEEE standard specification format guide and test procedure for single-axis interferometric fiber optical gyros[s].IEEE Std:952-1997,1998.
[21]危志英.光学陀螺测试及应用[J].尔滨工程大学学报,2003,8(4):21-26.
[22]“光纤陀螺仪测试方法”,中华人民共和国国家军用标准,GJB2426-95.
[23]李限勇. Visual C++串口通信技术与工程实践[M].北京:人民邮电出版社,2004,7.
[24]邱仲潘,柯渝,谢燕华. Visual C++6从入门到精通[M].北京:电子工业出版社,2005.
[25]佟柳燃,申功勋.光纤陀螺可视化测试系统设计与实现[J].中国惯性技术学报,2005,13(6):78-81.
[26]杨亭鹏,高亚楠,陈家斌.光纤陀螺仪零漂信号的Allan方差分析[J].光学技术,2005,31(1):87-89.
[27] WANG Hai,CHEN Jia-bin,HUANG Wei,et al. Detection and analysis of the fiber optic gyroscope′s random drift[J]. Optical Technique(光学技术),2004,30(5):623-625.
[28] Greenhall C A.A frequency-drift estimator and its removal from modified Allan variance[A].IEEE International Frequency Control Symosium[C].2003:239-244.
[29] Logozinsky V,Solomation V. Fiber optic gyros performance improvement by optical compensation method[Z].Fizopika,1998.
[30] Xuyou Li, Chen Zhang, Zhou He. Simulation Analysis on the Influence of Laser Source on Output of IFOG[C]. System and Control in Aerospace and Astronautics, 2008. ISSCAA 2008.2nd International Symposium on,2008:1-4.
[31] Yang Yuan-hong, Wang Zheng, Yi Xiao-su. High precision fiber optic gyroscope based on er-doped super-fluorescent fiber source[J]. Journal of Beijing University of Aeronautics and Astronautics,2005,31(11) :1159-1162.
[32]唐晓初编著.小波分析及其应用[M].重庆:重庆大学出版社,2006.
[33]柳贵富,张树侠.光纤陀螺数据滤波方法的研究[J].中国惯性技术学报,2001,9(4):66-69.
[34] Xiaoyang Li, Tongmin Jiang, Jing Ma, Rongcui Lu. State tree analysis of FOG based on drift Brownian motion[C]. Reliability, Maintainability and Safety,2009,ICRMS 2009,8th International Conference on,2009:1322-1326.
[35]李建平主编.小波分析与信号处理[M].重庆:重庆出版社,1997.
[36]潘泉,张磊,孟晋丽,张洪才.小波滤波方法及应用[M].北京:清华大学出版社,2005.
[37]袁瑞铭,李绪友,高晓萍.一种基于小波分析消除光纤陀螺信号零漂的方法[J].弹箭与制导学报,2003,23(5):23-27.
[38] RAO Gu-yin,YUAN Hao-lun, LI Guang-zhu. Effect of digital filtering on RLG Grandom error analysis[J]. Journal of Optoelectronics﹒ Laser(光电子﹒激光) ,2006,17(11):1346-1348.(in Chinese)
[39] Feris R S,Gemmell J, Toyama K,Kniger V. Hierarchical Wavelet Networks for Facial Feature Localization[C]//Fifth IEEE International Conference on Automatic Face and Gesture Recognition. Washington D C, 2002.
[40]葛哲学,沙威.小波分析理论与MATLAR2007实现[M].北京:电子工业出版社,2007.
[41]李凤海,郝炜亮,许化龙.基于小波理论抑制光纤陀螺零漂的研究[J].光电子技术,2005,25(1):48-51.
[42]邓自立.最优滤波理论及其应用[M].哈尔滨:哈尔滨工业大学出版社,2000.
[43] Xu Jiaomao, Zhang Haipeng, Sun Junzhong . Periodic Error Compensation for Quartz MEMS Gyroscope Drift of INS[J]. Chinese Journal of Aeronautics, 2007, pp539-545.
[44] Wei Jiang, Qing Shuang. Design and realization of small integrated navigation system based on MIMU/GPS/TAM[J]. Systems and Control in Aerospace and Astronautics, 2008,ISSCAA 2008, 2nd International Symposium on, 10-12 Dec.2008:1-5.
[2]陈永冰.惯性导航原理[M].北京:国防工业出版社,2007.
[3]秦永元.惯性导航[M].北京:科学出版社,2006.
[4]许江宁,朱涛,卞鸿巍.惯性传感技术与展望[J].海军工程大学学报,2007,19(3):1-5.
[5]张炎华,王立瑞,战兴群,翟传润.惯性导航技术的新进展及其发展[J].中国造船,2008,10:134-141.
[6]张天光,王秀萍,王丽霞.捷联惯性导航技术[M].北京:国防工业出版社,2007.
[7]袁信,郑鄂.捷联式惯性导航原理[M].北京:航空专业教材编审组,1985.
[8]关劲,程建华,吴磊,刘星伯,甘帅.船用平台式惯导系统状态转换技术的应用[J].中国造船,2008,49(2):75-80.
[9] Lefevre H C.光纤陀螺仪[M].北京:国防工业出版社,2002.
[10] Said Emre Alper, Tayfun Akin. A Single-Crystal Silicon Symmetrical and Decoupled MEMS Gyroscope on an Insulating Substrate[J]. Journal of microeletromechanical system,2005,VOL,14, NO.4:707-717.
[11]张桂才.光纤陀螺原理与技术[M].北京:国防工业出版社,2008.
[12] Lefevre H. The Fiber-Optical Gyroscope[M]. London:Artech house,1993.
[13] Shigeru Oho, Hiroshi Kajioka, Takao Sasayama. Optical Fiber Gyroscope for Automotive Navigation[J]. IEEE transactions on vehicular technology,VOL.44, NO.3:698-705.
[14] A. Yu, AS. Siddiqui. Theory of a Novel High Sensitivity Optical Fiber Gyroscope[J]. IEE Proceedings J,1993, VOL140, NO.2:150-156.
[15] V.E. Prilutskii, V.G. Ponamarev, A.G.Gubanov, Yu.N. Korkishko, V.A. Fedorov, S.M.Kostrit-skii, E.M. Paderin, V.S.Kritzak, A.I.Zuev. High-Precision Fiber Optical Gyroscope with Linear Digital Output[C]. Laser and Fiber-Optical Networks Modeling,2003. 5th Pacific Rim Conference on,2003:566.
[16]于强,郝燕玲.面向舰船应用的光纤陀螺工程化关键技术[J].舰船科学技术,2009,31(3):80-84.
[17]鲁浩,位晓峰,庞秀枝.惯性技术在精确制导武器中的应用与发展[J].电光与控制,2007,14(3):45-47.
[18]杨远洪,申彤,郭锦锦.光纤陀螺技术及应用[J].红外与激光工程,2007,36(5):626-631.
[19]刘兰芳,陈刚,金国良.光纤陀螺仪基本原理与分类[J].现代防御技术,2007,35(2):59-64.
[20] IEEE standard specification format guide and test procedure for single-axis interferometric fiber optical gyros[s].IEEE Std:952-1997,1998.
[21]危志英.光学陀螺测试及应用[J].尔滨工程大学学报,2003,8(4):21-26.
[22]“光纤陀螺仪测试方法”,中华人民共和国国家军用标准,GJB2426-95.
[23]李限勇. Visual C++串口通信技术与工程实践[M].北京:人民邮电出版社,2004,7.
[24]邱仲潘,柯渝,谢燕华. Visual C++6从入门到精通[M].北京:电子工业出版社,2005.
[25]佟柳燃,申功勋.光纤陀螺可视化测试系统设计与实现[J].中国惯性技术学报,2005,13(6):78-81.
[26]杨亭鹏,高亚楠,陈家斌.光纤陀螺仪零漂信号的Allan方差分析[J].光学技术,2005,31(1):87-89.
[27] WANG Hai,CHEN Jia-bin,HUANG Wei,et al. Detection and analysis of the fiber optic gyroscope′s random drift[J]. Optical Technique(光学技术),2004,30(5):623-625.
[28] Greenhall C A.A frequency-drift estimator and its removal from modified Allan variance[A].IEEE International Frequency Control Symosium[C].2003:239-244.
[29] Logozinsky V,Solomation V. Fiber optic gyros performance improvement by optical compensation method[Z].Fizopika,1998.
[30] Xuyou Li, Chen Zhang, Zhou He. Simulation Analysis on the Influence of Laser Source on Output of IFOG[C]. System and Control in Aerospace and Astronautics, 2008. ISSCAA 2008.2nd International Symposium on,2008:1-4.
[31] Yang Yuan-hong, Wang Zheng, Yi Xiao-su. High precision fiber optic gyroscope based on er-doped super-fluorescent fiber source[J]. Journal of Beijing University of Aeronautics and Astronautics,2005,31(11) :1159-1162.
[32]唐晓初编著.小波分析及其应用[M].重庆:重庆大学出版社,2006.
[33]柳贵富,张树侠.光纤陀螺数据滤波方法的研究[J].中国惯性技术学报,2001,9(4):66-69.
[34] Xiaoyang Li, Tongmin Jiang, Jing Ma, Rongcui Lu. State tree analysis of FOG based on drift Brownian motion[C]. Reliability, Maintainability and Safety,2009,ICRMS 2009,8th International Conference on,2009:1322-1326.
[35]李建平主编.小波分析与信号处理[M].重庆:重庆出版社,1997.
[36]潘泉,张磊,孟晋丽,张洪才.小波滤波方法及应用[M].北京:清华大学出版社,2005.
[37]袁瑞铭,李绪友,高晓萍.一种基于小波分析消除光纤陀螺信号零漂的方法[J].弹箭与制导学报,2003,23(5):23-27.
[38] RAO Gu-yin,YUAN Hao-lun, LI Guang-zhu. Effect of digital filtering on RLG Grandom error analysis[J]. Journal of Optoelectronics﹒ Laser(光电子﹒激光) ,2006,17(11):1346-1348.(in Chinese)
[39] Feris R S,Gemmell J, Toyama K,Kniger V. Hierarchical Wavelet Networks for Facial Feature Localization[C]//Fifth IEEE International Conference on Automatic Face and Gesture Recognition. Washington D C, 2002.
[40]葛哲学,沙威.小波分析理论与MATLAR2007实现[M].北京:电子工业出版社,2007.
[41]李凤海,郝炜亮,许化龙.基于小波理论抑制光纤陀螺零漂的研究[J].光电子技术,2005,25(1):48-51.
[42]邓自立.最优滤波理论及其应用[M].哈尔滨:哈尔滨工业大学出版社,2000.
[43] Xu Jiaomao, Zhang Haipeng, Sun Junzhong . Periodic Error Compensation for Quartz MEMS Gyroscope Drift of INS[J]. Chinese Journal of Aeronautics, 2007, pp539-545.
[44] Wei Jiang, Qing Shuang. Design and realization of small integrated navigation system based on MIMU/GPS/TAM[J]. Systems and Control in Aerospace and Astronautics, 2008,ISSCAA 2008, 2nd International Symposium on, 10-12 Dec.2008:1-5.