【作者】 高宁；

【导师】 周跃庆；

【作者基本信息】 天津大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 随着惯性技术的发展，对陀螺仪精度的要求越来越高。陀螺漂移是影响陀螺精度的重要指标，因而对陀螺漂移进行滤波、建模的研究显得越来越重要。本文以小波及多小波去噪理论和时间序列分析法为依据，研究了陀螺漂移信号的小波滤波方法，并建立了陀螺漂移信号的时间序列模型和陀螺漂移动力学误差模型。经过对寻北仪陀螺信号的滤波及建模实验验证，本文的方法有效的提高了寻北仪的寻北精度。首先，本文在陀螺漂移信号小波基选取的基础上，系统地将bior双正交小波、冗余小波应用到陀螺仪信号处理中，与经典信号处理方法巴特沃思滤波结果进行了比较，得到了较好地去噪效果。针对恶劣环境下陀螺仪输出存在的脉冲噪声，设计了小波域中值滤波器。在此基础上本文做了进一步研究，将多小波理论引入到陀螺信号去噪中，分析并对比了陀螺漂移信号多小波去噪的优点与不足。其次，对陀螺漂移信号进行了系统全面的统计分析，将小波去除信号趋势项的特性应用到陀螺漂移信号误差建模中，采用平稳小波及多小波去除陀螺漂移的趋势项，建立了陀螺漂移信号的时间序列模型。在此基础上进一步对陀螺信号进行了增广自适应卡尔曼滤波，建立了陀螺漂移动力学误差模型。最后，在研究成果的基础上采用Visual C++ 6.0开发环境设计并实现了陀螺信号去噪可视化软件系统。该系统包括陀螺信号小波去噪与小波分析，陀螺漂移信号的时间序列建模以及寻北仪寻北解算三大模块，具有良好的图形用户界面以及可视化滤波结果显示，为今后同类课题研究和实验提供了功能完善的软件平台。更多还原

【Abstract】 With the development of inertia technology, the required precision of the gyroscope has been much higher. Gyro drift is an important target that can affect the precision of gyroscope, so the research on gyro drift filtering and modeling is much more important. In this thesis, on the basis of wavelet and multi-wavelet de-noising theory and time series analyzing method, the wavelet de-noising method, which is applied to the gyro drift signal processing, is studied, and the time series model and the dynamics model of the gyro drift signal are built. The experiment results of the gyro signal proved that the methods proposed in this paper have acquired inspiring results in improving the precision of the north-finding system.Firstly, based on the selection of the wavelet bases of gyro drift signal, bi-orthogonal wavelet and redundant wavelet are used in gyro signal processing systematically. Compared with the classic Butterworth filter, the results of wavelet filtering are much better. As for the pulse noise in gyro output signals that are collected from bad background, a median filter based on wavelet is designed. Based on these, further more research is presented in this paper. Multi-wavelet theory is introduced in gyro signal de-noising in the thesis, in which the virtues and drawbacks are given through analyzing and comparing between the above methods and the multi-wavelet de-noising of gyro drift signal.Secondly, systematic and comprehensive statistic analysis of the gyro drift signal is presented in the paper, in which the application of trend terms elimination of wavelet in the gyro drift error modeling is also included. The time series model of gyro drift signal using the smooth wavelet and multi-wavelet to remove the trend terms is built in this thesis. Based on the above research extended adaptive Kalman filter is further studied on the gyro <WP=5>signal, a dynamic error model of gyro signal is presented.In the end, a visualized software system, which is developed under the environment of Visual C++ 6.0 based on the research results, has implemented the de-noising of gyro signal. The system consists of three main modules, such as wavelet de-noising, wavelet analyzing and the time series modeling of gyro signal and its north calculation of north-finding system. The kind graphic interface of the system can show the filter results, which provides the software platform for the same type of task research in the future with perfect functions.更多还原