CN106153029B - Two frequency machine shaking laser gyroscope shaking signal cancellation devices - Google Patents

Two frequency machine shaking laser gyroscope shaking signal cancellation devices Download PDF

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CN106153029B
CN106153029B CN201610681578.7A CN201610681578A CN106153029B CN 106153029 B CN106153029 B CN 106153029B CN 201610681578 A CN201610681578 A CN 201610681578A CN 106153029 B CN106153029 B CN 106153029B
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shaking
signal
lms
weight coefficient
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CN106153029A (en
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侯志宁
周凌峰
郑志鹏
屈原津
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707th Research Institute of CSIC
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/58—Turn-sensitive devices without moving masses
    • G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
    • G01C19/66—Ring laser gyrometers
    • G01C19/661—Ring laser gyrometers details
    • G01C19/662—Ring laser gyrometers details signal readout; dither compensators
    • G01C19/664—Ring laser gyrometers details signal readout; dither compensators means for removing the dither signal

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Abstract

The present invention relates to a kind of two frequency machine shaking laser gyroscope shaking signal cancellation devices, it is technically characterized by comprising the steps as follows: including gyro data acquisition module, calculus of differences module, low order FIR filter module, summation operation module, high frequency clock module, low order iir filter module, IIR high pass filter block, the first digital phase shifter module, shake estimation module, digital dock conversion module, the second digital phase shifter module, bandpass filter module, digital dock management module, third digital phase shifter module and LMS weight coefficient update module.The present invention has rational design, it uses the adaptive interference cancelling technology based on LMS algorithm to carry out shaking laser gyroscope signal cancellation, offset use just, cosine reference signal obtains to by sampled differential signal all the way through signal phase shift, system input and output response is constant when approximate, it can reduce and tremble counteracting except time delays, can be widely used for eliminating the mechanical shaking signal in the output of two frequency mechanical shaking lasergyro in real time.

Description

Two frequency machine shaking laser gyroscope shaking signal cancellation devices
Technical field
The invention belongs to two frequency machine laser gyroscope shaking technical fields, especially a kind of two frequency machine shaking laser gyroscope shaking signals Canceller.
Background technique
In quickly tracking occasion, it is desirable that control system exports angular rate information in real time.For mechanical shaking laser gyro, Output signal had both included the carrier angular movement information that gyro sensitivity arrives, and also included mechanical shaking angular movement.Carrier angle in order to obtain Motion information, it is necessary to which gyro output signals are demodulated.Typical demodulation scheme mainly has high-speed sampling low-pass filtering and trembles Dynamic counteracting method, high-speed sampling low-pass filtering are usually completed by FIR low pass filter, the FIR filter order designed Higher, filtering delay-time is larger, is not suitable for quickly tracking applications, and shake, which is offset, has the characteristics that zero propagation, can be defeated in real time Angular rate information out is only applicable to the quickly tracking occasion such as stability contorting.
The dither reference signal of existing shake device for stripping is obtained by shake pick-up circuit, before this method needs are equipped with Conditioning circuit is held, additional A/D conversion chip is also wanted, increases the complexity of hardware.Generally use the pickups such as piezoelectric ceramics shake Signal, piezoelectric ceramics have lagging characteristics, creep properties and high-frequency vibration nonlinear characteristic, from piezoelectric ceramics pick up signal toward Toward not being real dither signal, showing as signal has non-linear, and higher harmonic components are wherein contained from frequency spectrum.
Existing to obtain dither signal by gyro from phase-lock technique, gyro output sampling frequency rate passes through fixed sampling clock Complete, cannot achieve just, cosine dither reference signal strictly differ 90 °, therefore, to strip effect poor for shake.
It is existing that dither signal is obtained by band logical iir filter from phase-lock technique, when gyro work is larger in output amplitude Occasion when, the bandpass filter order designed is higher, easily lead to IIR output diverging；In addition, since iir filter has Feedback element cannot achieve full precision cut position when fixed-point calculation, and cut position is improper to also result in IIR output diverging, cause to filter Failure.
Gyro is exported and is directly carried out through adaptive jitter device for stripping after calculus of differences by existing shake device for stripping Shake strips, and LMS algorithm has feedback element, cannot achieve the full precision data cut position of fixed-point calculation, in order to improve system Shake strips effect, it usually needs more word length indicates operational data, occupies more hardware logic resource, while cut position is not When will lead to LMS output diverging, shake strips failure.
Existing shake device for stripping be all made of 90 ° of two-way phase phase difference just, cosine dither reference signal is for shaking Signal estimation and LMS weight coefficient update, and it is not ideal enough that obtained shake strips effect.
Summary of the invention
It is an object of the invention to overcome the shortcomings of existing design, two frequency machine shaking laser gyroscope shaking signals of one kind are provided and are supported Disappear device, solves the problems, such as follows: 1, existing LMS adaptive jitter strips technology and obtains gyro output signals by bandpass filter To dither reference signal, in the larger occasion of angle increment signal amplitude of gyro output, accurate dither reference signal in order to obtain Nd, the band logical iir filter order designed is higher, and the iir filter of high-order is computationally intensive, and when realizing in FPGA, cuts Position is dealt with improperly, and the output diverging of filter causes filter can not work normally；2, existing LMS adaptive jitter strips Technology shakes estimatorPrecision is poor, and the carrier angular movement precision of information after shake strips is poor, it usually needs increases low order The order of low-pass FIR filter come improve gyro output carrier angular movement information precision, the invention redesigned shake estimates Calculating method further reduced the order of low-pass FIR filter, reduce at gyro data while guaranteeing Gyro Precision The delay of reason improves the real-time of system；3, dither reference signal is obtained through gyro, does not need external shake pick-up circuit and obtains Dither reference signal is taken, the hardware design that shake is offset is simplified, when gyro obtains dither reference signal, devises low order IIR high-pass filter obtains dither reference signal, and devises digital dock converter (DCC) and realize that digital signal is believed to clock Number conversion, to obtained clock signal in FPGA 4M frequency multiplication, obtain synchronous with dither signal and same frequency sampling clock Signal samples gyro output signals, obtains phase and strictly differs 90 ° of dither reference signal, to improve the effect that shake is offset Fruit.
The present invention solves its technical problem and adopts the following technical solutions to achieve:
A kind of two frequency machine shaking laser gyroscope shaking signal cancellation devices, including gyro data acquisition module, calculus of differences mould Block, low order FIR filter module, summation operation module, high frequency clock module, low order iir filter module, IIR high-pass filtering Device module, the first digital phase shifter module, shake estimation module, digital dock conversion module, the second digital phase shifter module, Bandpass filter module, digital dock management module, third digital phase shifter module and LMS weight coefficient update module；The top Spiral shell data acquisition module, low order iir filter module, digital dock conversion module, digital dock management module are sequentially connected It connects, another input terminal of low order iir filter module connects high frequency clock module, and the gyro data acquisition module is according to number The use frequency of word clock management module output samples dither signal, and sampled data is exported through calculus of differences module to low Rank FIR filter module, low order FIR filter module output end are separately connected IIR high pass filter block and summation operation Module, the output end of the IIR high pass filter block are separately connected the first digital phase shifter module, shake estimation module, second Digital phase shifter module and LMS weight coefficient update module, the output end of the first digital phase shifter module are separately connected shake and estimate Count module and LMS weight coefficient update module, the output end of the second digital phase shifter module is separately connected shake estimation module, the Three digital phase shifter modules and LMS weight coefficient update module, the output end of the third digital phase shifter module are separately connected shake Estimation module and LMS weight coefficient update module, another input of the output end connection summation operation module of the shake estimation module End, the input terminal of the output end connecting band allpass filter block of the summation operation module, the bandpass filter module connect LMS power Coefficient updating module, LMS weight coefficient update module output LMS algorithm update weight coefficient to shaking estimation module.
The digital dock conversion module is arranged in FPGA, and the sample clock frequency of output is 4Mfs, wherein M For the integer more than or equal to 1, fsFor gyro chattering frequency.
Pulse increment Δ N (n)=Δ N of the calculus of differences module outputb(n)+ΔNd(n), wherein Δ Nb(n)、Δ Nd(n) the gyro base corner motion change and mechanical shaking angular movement variation in k-th of sampling period are respectively represented；The low order FIR filter treated angular movement pulse increment Δ Nlpf(n) are as follows:
ΔNlpf(n)=Δ Nb′(n)+ΔNd' (n):
Wherein, Δ Nb' (n) indicates the gyro base corner increment of motion Jing Guo low order FIR filter, Δ Nd' (n) indicates warp The mechanical shaking angular movement increment signal of overdamping, K are the order for indicating FIR filter.
The IIR high-pass filter filters out the gyro base corner increment of motion Δ N of low order FIR filter outputbAfter ' (n) Obtain the first dither reference signal Δ Nd1(n): the first digital phase shift module is to Δ Nd1(n) the second tunnel is obtained after handling to tremble Dynamic reference signal Δ Nd2(n), Δ Nd2(n)=Δ Nd1(n-1)；The second digital phase shift module is to Δ Nd1(n) it is obtained after handling With Δ Nd1(n) 90 ° of phase phase difference of third road dither reference signal Δ Nd3(n), Δ Nd3(n)=Δ Nd1(n-M), M be greater than Integer equal to 1；The third digital phase shift module is to third road dither reference signal Δ Nd3(n) the 4th tunnel is obtained after handling to tremble Dynamic reference signal Δ Nd4(n), Δ Nd4(n)=Δ Nd3(n-1)。
The LMS weight coefficient update module is according to four tunnel dither reference signal Δ Nd1(n)、ΔNd2(n)、ΔNd3(n)、Δ Nd4(n) and bandpass filter output valve ε (n) output LMS algorithm updates weight coefficient:
h11(n+1)=h11(n)+2×μ×ε(n)×ΔNd2(n)
h12(n+1)=h12(n)+2×μ×ε(n)×ΔNd1(n)
h21(n+1)=h21(n)+2×μ×ε(n)×ΔNd4(n)
h22(n+1)=h22(n)+2×μ×ε(n)×ΔNd3(n)。
The shake estimation module is according to four tunnel dither reference signal Δ Nd1(n)、ΔNd2(n)、ΔNd3(n)、ΔNd4(n) And four LMS weight coefficients are to Δ Nd' (n) is estimated to obtain the estimation of shake angular movement increment
Wherein h11(n)、h12(n)、h21(n)、h22It (n) is the weight coefficient in n-th of sampling period.
The advantages and positive effects of the present invention are:
1, the present invention obtains dither reference signal by gyroscope, it is no longer necessary to which outside shake pick-up circuit obtains shake ginseng Signal is examined, the hardware design that shake is offset is simplified, and improve the accuracy of the dither signal of acquisition, to improve shake The effect of counteracting.
2, after the present invention obtains dither reference signal using gyro, when by design low order IIR high-pass filter and number Clock converter obtains clock signal synchronous with dither signal and same frequency, different for the chattering frequency of different gyros, can make Sample frequency be dither signal frequency integral multiple, shake offset need 90 ° of phase phase difference just, cosine shake reference pair exist Phase shift obtains in FPGA, can improve shake neutralization effect.
3, the iir filter that the present invention uses is IIR filter, and there are feedback elements, pinpoint in FPGA It not can guarantee full precision cut position when operation, can realize that the low order FIR filter of full precision fixed-point calculation is defeated to gyro in FPGA Pulse increment out carries out pre-filtering, reduces the amplitude for entering high-pass IIR filter pulse increment signal, exists to reduce data Expression digit in FPGA improves the digit of significance bit in the case where identical data digit, improves shake and offsets precision.
4, dither reference signal of the invention is obtained through high-pass IIR filter, obtains shake ginseng compared to band logical iir filter The mode of signal is examined, the order of iir filter can be substantially reduced, is easily dissipated to solve High Order IIR Filter for Fix-Point, shake is caused to be supported The problem of disappearance loses, while available high-frequency interferencing signal relevant to gyro output medium-high frequency interference, according to adaptive disturbance Principle of cancellation offsets part High-frequency Interference when shaking and offsetting, and is conducive to improve shake neutralization effect.
5, four tunnel dither reference signals can be obtained using three digital phase shifter modules in the present invention, pass through four LMS power systems Several pairs of shaking interferences are estimated, more accurate shake estimation signal can be obtained, further increase shake neutralization effect.
6, the present invention has rational design, uses the adaptive interference cancelling technology based on LMS algorithm to carry out laser gyro and trembles The integral multiple that sample frequency is chattering frequency is offset in dynamic signal cancellation, shake, offset use just, cosine reference signal is to by one Road sampled differential signal is obtained through signal phase shift, and system input and output response is constant when approximate, trembles counteracting except the time to reduce Delay can be widely used for eliminating the mechanical shaking signal in the output of two frequency mechanical shaking lasergyro in real time.
Detailed description of the invention
Fig. 1 is circuit diagram of the invention.
Specific embodiment
The embodiment of the present invention is further described below in conjunction with attached drawing:
A kind of two frequency machine shaking laser gyroscope shaking signal cancellation devices, as shown in Figure 1, include gyro data acquisition module 1, Calculus of differences module 2, low order FIR filter module 3, summation operation module 4, high frequency clock module 5, low order iir filter mould Block 6, IIR high pass filter block 7, the first digital phase shifter module 8, shake estimation module 9, digital dock conversion module 10, the second digital phase shifter module 11, bandpass filter module 12, digital dock management module 13, third digital phase shifter mould Block 14, LMS weight coefficient update module 15.The gyro data acquisition module 1, low order iir filter module 6, digital dock turn Parallel operation module 10, digital dock management module 13 are sequentially connected and connect, another input terminal connection of low order iir filter module 6 High frequency clock module 5, the gyro data acquisition module 1 export the use frequency of 4M frequency multiplication according to digital dock management module 13 It is sampled, sampled data is exported through calculus of differences module 2 to low order FIR filter module 3, low order FIR filter module 3 Output end is separately connected IIR high pass filter block 7 and summation operation module 4, the output end of the IIR high pass filter block 7 The first digital phase shifter module 8, shake estimation module 9, the second digital phase shifter module 11 and LMS weight coefficient is separately connected to update Module 15, the output end of the second digital phase shifter module 11 are separately connected shake estimation module 9, third digital phase shifter module 14 and LMS weight coefficient update module 15, the output end of the first digital phase shifter module 8 are separately connected shake 9 He of estimation module LMS weight coefficient update module 15, the output end of the third digital phase shifter module 14 are separately connected shake estimation module 9 and LMS Weight coefficient update module 15, another input terminal of the output end connection summation operation module 4 of shake estimation module 9, summation operation The input terminal of the output end connecting band allpass filter block 12 of module 4,12 output end of bandpass filter module connect LMS power system Number update module 15, the LMS weight coefficient update module 15 export LMS algorithm and update weight coefficient to shake estimation module 9.
The operation principle of the present invention is that: laser gyro output counts that pulse is sampled, obtains after difference comprising gyro pedestal The pulse increment Δ N (n) of angular movement and mechanical shaking angular movement；Pulse increment Δ N (n) is through 3 pre-flock of low order FIR low pass filter Obtain shaking the mechanical shaking angular movement pulse increment Δ N of the angular movement of gyro pedestal and decaying that decay in advance after wavelpf(n)；It is mechanical Shake angular movement pulse increment Δ Nlpf(n) the reference jitter increment signal after obtaining pre- decaying after high-pass IIR filter 7 ΔNd1(n)；Reference jitter increment signal Δ N after pre- decayingd1(n) it is obtained after digital phase shifter 11 and Δ Nd1(n) it differs 90 ° of reference jitter increment signal Δ Nd3(n), the reference jitter increment signal Δ N after pre- decayingd1(n) through digital phase shifter 8 After obtain reference jitter increment signal Δ Nd2(n), reference jitter increment signal Δ Nd3(n) joined after digital phase shifter 14 Examine shake increment signal Δ Nd4(n)；Estimation module 9 is shaken according to four tunnel dither reference signal Δ Nd1(n)、ΔNd2(n)、ΔNd3 (n)、ΔNd4(n) estimation of shake angular movement increment is obtainedAnd with Δ Nlpf(n) subtract each other to obtain inertia angular movement increment Δs(n)；Inertia angular movement increment Delta s (n) passes through LMS weight coefficient update module 15 after bandpass filter 12 and passes through optimization LMS algorithm update weight coefficient h11(n)、h12(n)、h21(n)、h22(n).Laser gyro exports counting pulse signal N through low order Dither signal N is obtained after IIR high-pass filter 6d(n), dither signal Nd(n) it obtains and shakes by digital dock converter 10 The tune width wave signal f of signal synchronization and same frequencys, adjust wide wave signal fsFrequency signal is by the digital dock manager in FPGA The sampling clock synchronous with dither reference signal is obtained after 13 progress 4M frequencys multiplication to sample gyro output signals.ΔNd1(n) through letter It is obtained and Δ N after M single sampling delayd1(n) 90 ° of increment signal Δ N is differedd2(n), the shake obtained in this way is with reference to letter Number Δ Nd1(n)、ΔNd2(n) close to ideal cosine and sine signal, Δ N is inputtedlpf(n) response of output Δ s (n) is offset to shake It is constant when being approximately, available comparatively ideal shake neutralization effect.
Some crucial point designs in the present invention are illustrated below:
(1) sampling clock designs
Gyro output obtains dither reference signal N by low order IIR high-pass filter 6d(n), dither reference signal Nd(n) It is available with dither signal Δ N through digital dock conversion module 10d(n) synchronous and same frequency clock signal fs:
y1(n)=bl10×(N(n)+bl11×N(n-1)+bl12×N(n-2))+al11×y1(n-1)+al12×y1(n-2)
Nd(n)=y1(n)+bl21×y1(n-1)+bl22×y1(n-2)+al21×Nd(n-1)+al22×Nd(n-2)
fsIt is synchronous with dither reference signal by being obtained after the progress 4M frequency multiplication of digital dock management module 13 in FPGA Sampling clock, sample clock frequency 4Mfs(M is the integer more than or equal to 1, fsFor gyro chattering frequency).Shake canceller With 4MfsSample frequency to gyro output signals sample.
(2) design of low pass FIR prefilter
Laser gyro output counts pulse and is obtained by gyro data acquisition module 1, and sampled value is obtained through calculus of differences module 2 To pulse increment:
Δ N (n)=N (n)-N (n-1)=Δ Nb(n)+ΔNd(n)
Wherein, Δ Nb(n)、ΔNd(n) gyro base corner motion change and the machinery in k-th of sampling period are respectively represented Shake angular movement variation.
Gyro angular movement pulse increment Δ N (n) carries out pre-filtering through low order FIR filter, obtains declining by once shaking The angular movement pulse increment Δ N subtractedlpf(n), Δ Nlpf(n) desired signal offset as shake:
ΔNlpf(n)=h0×ΔN(n)+h1×ΔN(n-1)+h2×ΔN(n-2)+…+hK-1×ΔN(n-K+1)+hK× Δ N (n-K)=Δ Nb′(n)+ΔNd′(n)
Wherein, Δ Nb' (n) indicates the gyro base corner increment of motion Jing Guo FIR filter, Δ Nd' (n) is indicated by declining The mechanical shaking angular movement increment signal subtracted, K are the order for indicating FIR filter, are designed according to the actual demand of system different The preferred recommendation of the FIR filter of order, K may be selected to be K=35.
(3) acquisition of dither reference signal
Dither reference signal Δ Nd1(n) it is provided by high-pass filter 7.ΔNlpf(n) gyro base is filtered out through high-pass filter 7 Seat angular movement increment Delta Nb' (n) obtains gyro mechanical shaking angular movement increment Delta N more satisfactory all the wayd1(n):
order1(n)=b10×(ΔNlpf(n)+b11×ΔNlpf(n-1)+b12×ΔNlpf(n-2))+a11×order1 (n-1)+a12×order1(n-2)
order2(n)=order1(n)+b21×order1(n-1)+b22×order1(n-2)+a21×order2(n-1)+ a22×order2(n-2)
order3(n)=order2(n)+b31×order2(n-1)+b32×order2(n-2)+a31×order3(n-1)+ a32×order3(n-2)
order4(n)=order3(n)+b41×order3(n-1)+b42×order3(n-2)+a41×order4(n-1)+ a42×order4(n-2)
ΔNd1(n)=order4(n)+b51×order4(n-1)+b52×order4(n-2)+a51×ΔNd1(n-1)+a52 ×ΔNd1(n-2)
ΔNd1(n) the second tunnel dither reference signal Δ N is obtained after 8 phase shift of digital phase shift moduled2(n):
ΔNd2(n)=Δ Nd1(n-1)
ΔNd1(n) it is obtained after 11 phase shift of digital phase shift module and Δ Nd1(n) ginseng is shaken on 90 ° of phase phase difference of third road Examine signal delta Nd3(n):
ΔNd3(n)=Δ Nd1(n-M)
Since sample frequency is 4Mfs, therefore no matter gyro chattering frequency fsHow to change, Δ Nd1(n)、ΔNd3(n) between Phase differ 90 ° always, correspondingly shake offset be input to shake offset output response approximation when it is constant, shake can be improved Neutralization effect.
ΔNd3(n) the 4th tunnel dither reference signal Δ N is obtained after 14 phase shift of digital phase shift moduled4(n):
ΔNd4(n)=Δ Nd3(n-1)
(4) design of algorithm for estimating is shaken
Estimation module 9 is shaken by four tunnel dither reference signals and four LMS weight coefficients to Δ Nd' (n) is estimated It obtains
Wherein h11(n)、h12(n)、h21(n)、h22It (n) is the weight coefficient in n-th of sampling period, they are updated by weight coefficient Algoritic module 15 determines.
(5) weight coefficient of LMS more new algorithm designs
The weight coefficient of LMS more new algorithm passes through four tunnel dither reference signal Δ Nd1(n)、ΔNd2(n)、ΔNd3(n)、ΔNd4 (n) and the ε (n) that exports of bandpass filter is updated, and specifically more new algorithm is as follows:
h11(n+1)=h11(n)+2×μ×ε(n)×ΔNd2(n)
h12(n+1)=h12(n)+2×μ×ε(n)×ΔNd1(n)
h21(n+1)=h21(n)+2×μ×ε(n)×ΔNd4(n)
h22(n+1)=h22(n)+2×μ×ε(n)×ΔNd3(n)
(6) gyro base corner increment of motion
Increment Delta Nlpf(n) estimate with shakeShake, which is obtained, through summation operation module 4 offsets output Δ s (n), Δ S (n) is gyro base corner increment of motion, i.e. output s (n) is offset in filters solutions obtained gyro output useful signal, shake For gyro base corner increment of motion Δ Nb(n) approximation.It is as follows to shake cancellation algorithms:
(7) design of bandpass filter
To prevent low frequency or constant gyro pedestal angular movement from influencing, weight coefficient updates and shake neutralization effect, shake are offset Output s (n) will be used further to weight coefficient after bandpass filter 12 eliminates the angular movement of gyro pedestal and update.Bandpass filter algorithm is such as Under:
ε (n)=- Δ s (n)+Δ s (n-1)+Δ s (n-2)-Δ s (n-3)
8, cancellation algorithms are completely shaken
The present invention completely shakes cancellation algorithms are as follows:
y1(n)=bl10×(N(n)+bl11×N(n-1)+bl12×N(n-2))+al11×y1(n-1)+al12×y1(n-2)
Nd(n)=y1(n)+bl21×y1(n-1)+bl22×y1(n-2)+al21×Nd(n-1)+al22×Nd(n-2)
ΔNlpf(n)=h0×ΔN(n)+h1×ΔN(n-1)+h2×ΔN(n-2)+…+hK-1×ΔN(n-K+1)+hK× ΔN(n-K)
order1(n)=b10×(ΔNlpf(n)+b11×ΔNlpf(n-1)+b12×ΔNlpf(n-2))+a11×order1 (n-1)+a12×order1(n-2)
order2(n)=order1(n)+b21×order1(n-1)+b22×order1(n-2)+a21×order2(n-1)+ a22×order2(n-2)
order3(n)=order2(n)+b31×order2(n-1)+b32×order2(n-2)+a31×order3(n-1)+ a32×order3(n-2)
order4(n)=order3(n)+b41×order3(n-1)+b42×order3(n-2)+a41×order4(n-1)+ a42×order4(n-2)
ΔNd1(n)=order4(n)+b51×order4(n-1)+b52×order4(n-2)+a51×ΔNd1(n-1)+a52 ×ΔNd1(n-2)
ΔNd2(n)=Δ Nd1(n-1)
ΔNd3(n)=Δ Nd1(n-M)
ΔNd4(n)=Δ Nd3(n-1)
ε (n)=- Δ s (n)+Δ s (n-1)+Δ s (n-2)-Δ s (n-3)
h11(n+1)=h11(n)+2×μ×ε(n)×ΔNd2(n)
h12(n+1)=h12(n)+2×μ×ε(n)×ΔNd1(n)
h21(n+1)=h21(n)+2×μ×ε(n)×ΔNd4(n)
h22(n+1)=h22(n)+2×μ×ε(n)×ΔNd3(n)
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore packet of the present invention Include and be not limited to embodiment described in specific embodiment, it is all by those skilled in the art according to the technique and scheme of the present invention The other embodiments obtained, also belong to the scope of protection of the invention.

Claims (6)

1. a kind of two frequency machine shaking laser gyroscope shaking signal cancellation devices, it is characterised in that: including gyro data acquisition module, difference Divide computing module, low order FIR filter module, summation operation module, high frequency clock module, low order iir filter module, IIR High pass filter block, the first digital phase shifter module, shake estimation module, digital dock conversion module, the second number are moved Phase device module, bandpass filter module, digital dock management module, third digital phase shifter module and LMS weight coefficient update mould Block；The gyro data acquisition module, low order iir filter module, digital dock conversion module, digital dock management module It is sequentially connected and connects, another input terminal of low order iir filter module connects high frequency clock module, and the gyro data acquires mould Block samples dither signal according to the sample frequency that digital dock management module exports, and sampled data is through calculus of differences module Output to low order FIR filter module, low order FIR filter module output end be separately connected IIR high pass filter block and Summation operation module, the output end of the IIR high pass filter block are separately connected the first digital phase shifter module, shake estimation mould Block, the second digital phase shifter module and LMS weight coefficient update module, the output end of the first digital phase shifter module are separately connected Estimation module and LMS weight coefficient update module are shaken, the output end of the second digital phase shifter module is separately connected shake estimation Module, third digital phase shifter module and LMS weight coefficient update module, the output end of the third digital phase shifter module connect respectively Shake estimation module and LMS weight coefficient update module are connect, the output end of the shake estimation module connects the another of summation operation module One input terminal, the input terminal of the output end connecting band allpass filter block of the summation operation module, the bandpass filter module connect LMS weight coefficient update module is connect, LMS weight coefficient update module output LMS algorithm updates weight coefficient to shaking estimation module.
2. two frequencies machine shaking laser gyroscope shaking signal cancellation device according to claim 1, it is characterised in that: the number Clock converter module is arranged in FPGA, and the sample clock frequency of output is 4Mfs, wherein M is whole more than or equal to 1 Number, fsFor gyro chattering frequency.
3. two frequencies machine shaking laser gyroscope shaking signal cancellation device according to claim 1, it is characterised in that: the difference Pulse increment Δ N (n)=Δ N of computing module outputb(n)+ΔNd(n), wherein n represents the serial number in sampling period, Δ Nb (n)、ΔNd(n) the gyro base corner motion change and mechanical shaking angular movement variation in n-th of sampling period are respectively represented；Institute State low order FIR filter treated angular movement pulse increment Δ Nlpf(n) are as follows:
ΔNlpf(n)=Δ N 'b(n)+ΔN′d(n):
Wherein, Δ N 'b(n) the gyro base corner increment of motion Jing Guo low order FIR filter, Δ N ' are indicatedd(n) it indicates by declining The mechanical shaking angular movement increment signal subtracted.
4. two frequencies machine shaking laser gyroscope shaking signal cancellation device according to claim 1, it is characterised in that: the IIR High-pass filter filters out the gyro base corner increment of motion Δ N ' of low order FIR filter outputb(n) the first shake reference is obtained after Signal delta Nd1(n): the first digital phase shift module is to Δ Nd1(n) the second tunnel dither reference signal Δ N is obtained after handlingd2 (n), Δ Nd2(n)=Δ Nd1(n-1)；The second digital phase shift module is to Δ Nd1(n) it is obtained and Δ N after handlingd1(n) phase The third road dither reference signal Δ N of 90 ° of differenced3(n), Δ Nd3(n)=Δ Nd1(n-M), M is the integer more than or equal to 1； The third digital phase shift module is to third road dither reference signal Δ Nd3(n) the 4th tunnel dither reference signal Δ is obtained after handling Nd4(n), Δ Nd4(n)=Δ Nd3(n-1), wherein n represents the serial number in sampling period.
5. two frequencies machine shaking laser gyroscope shaking signal cancellation device according to claim 1, it is characterised in that: the LMS Weight coefficient update module is according to four tunnel dither reference signal Δ Nd1(n)、ΔNd2(n)、ΔNd3(n)、ΔNd4(n) and band logical is filtered The weight coefficient of wave device output valve ε (n) update LMS:
h11(n+1)=h11(n)+2×μ×ε(n)×ΔNd2(n)
h12(n+1)=h12(n)+2×μ×ε(n)×ΔNd1(n)
h21(n+1)=h21(n)+2×μ×ε(n)×ΔNd4(n)
h22(n+1)=h22(n)+2×μ×ε(n)×ΔNd3(n)
Wherein, h11(n)、h12(n)、h21(n)、h22(n) weight coefficient in n-th of sampling period of LMS, h are indicated11(n+1)、h12(n+ 1)、h21(n+1)、h22(n+1) weight coefficient in (n+1)th sampling period of LMS is indicated, wherein n represents the serial number in sampling period, μ Indicate that LMS algorithm updates step value.
6. two frequencies machine shaking laser gyroscope shaking signal cancellation device according to claim 1, it is characterised in that: the shake Estimation module is according to four tunnel dither reference signal Δ Nd1(n)、ΔNd2(n)、ΔNd3(n)、ΔNd4(n) and four LMS weight coefficients To Δ N 'd(n) estimated to obtain the estimation of shake angular movement increment
Wherein, n represents the serial number in sampling period, h11(n)、h12(n)、h21(n)、h22It (n) is the weight coefficient in n-th of sampling period.
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