吉林大学学报(工学版) ›› 2017, Vol. 47 ›› Issue (6): 1868-1875.doi: 10.13229/j.cnki.jdxbgxb201706027

• 论文 • 上一篇    下一篇

基于强跟踪卡尔曼滤波的陀螺信号处理

朱枫1, 2, 3, 张葆1, 2, 李贤涛1, 2, 王正玺1, 2, 3, 张士涛1, 2, 3   

  1. 1.中国科学院 长春光学精密机械与物理研究所,长春 130033;
    2.中国科学院 航空光学成像与测量重点实验室,长春 130033;
    3.中国科学院大学,北京 100049
  • 收稿日期:2016-08-24 出版日期:2017-11-20 发布日期:2017-11-20
  • 通讯作者: 张葆(1966-),男,研究员,博士.研究方向:航空光电成像技术.E-mail:zcleresky@vip.sina.com
  • 作者简介:朱枫(1992-),女,博士研究生.研究方向:航空光电稳定平台视轴稳定技术.E-mail:zf0109@126.com
  • 基金资助:
    “863”国家高技术研究发展计划重点项目(2013AA122102)

Gyro signal processing based on strong tracking Kalman filter

ZHU Feng1, 2, 3, ZHANG Bao1, 2, LI Xian-tao1, 2, WANG Zheng-xi1, 2, 3, ZHANG Shi-tao1, 2, 3   

  1. 1.Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China;
    2.Key Laboratory of Airborne Optical Imaging and Measurement, Chinese Academy of Sciences,Changchun 130033,China;
    3.University of Chinese Academy of Sciences, Beijing 100049, China
  • Received:2016-08-24 Online:2017-11-20 Published:2017-11-20

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摘要： 针对陀螺传感器测量精度低,严重影响航空光电稳定平台视轴稳定精度的问题,设计了强跟踪卡尔曼滤波器。根据时间序列分析法的基本原理,对经过预处理的陀螺原始量测数据进行AR模型建模,根据该AR模型采用状态空间法设计卡尔曼滤波器,同时为了增强系统的鲁棒性,引入强跟踪算法对卡尔曼滤波中的状态预测方差进行实时调整,构造了强跟踪卡尔曼滤波器。阐述了该算法的理论、原理,并且在某型航空光电稳定平台上进行试验验证。试验结果表明:强跟踪卡尔曼滤波器输出信号的方差减少了44.1%,分散程度降低,同时,相较于巴特沃斯滤波器,最大超调量减少13%,上升时间缩短了3 ms,调整时间缩短了37.5 ms,使平台具有良好的动态性能。研究表明,强跟踪卡尔曼滤波器可以提高航空光电稳定平台的精度,有较高的实用价值。

关键词: 自动控制技术, 视轴稳定精度, 强跟踪卡尔曼滤波, 陀螺传感器

Abstract: To overcome the problem that the low measuring precision of the gyroscope leads to degradation of Line of Sight (LOS) stabilization accuracy of photoelectric stabilized platform for aviation, a strong tracking Kalman filter was designed. According to the principle of the time sequence analysis from the random series, Autoregressive method (AR) was adopted to model the preprocessed data measured by the gyroscope. The state-space method was used to design the Kalman filter. In the meantime, in order to increase the control system's robustness, the strong tracking algorithm was introduced to correct the variance of state prediction in real time to construct the strong tracking Kalman filter. The theory and principle of the algorithm were described and applied to the photoelectric stabilized platform for aviation. The results show that the variance of signal was reduced by 44.1% after filtering using the strong tracking Kalman filter, and the dispersion was apparently reduced. At the same time, comparing with the Butterworth filter, the strong tracking Kalman filter shortens the overshoot by 13%, cut down the rise time by 3 ms, shortens the regulation time by 37.5 ms, keeps the platform in good dynamic properties. The study indicated that the strong tracking Kalman filter has strong application value.

Key words: automatic control technology, LOS stabilization accuracy, strong tracking Kalman filter, gyroscope

中图分类号: 

  • TP273
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