CN108873092A - A kind of marine gravitometer Horizontal Stable Platform and its control method - Google Patents
A kind of marine gravitometer Horizontal Stable Platform and its control method Download PDFInfo
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- CN108873092A CN108873092A CN201810263544.5A CN201810263544A CN108873092A CN 108873092 A CN108873092 A CN 108873092A CN 201810263544 A CN201810263544 A CN 201810263544A CN 108873092 A CN108873092 A CN 108873092A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V7/00—Measuring gravitational fields or waves; Gravimetric prospecting or detecting
- G01V7/16—Measuring gravitational fields or waves; Gravimetric prospecting or detecting specially adapted for use on moving platforms, e.g. ship, aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The present invention relates to a kind of marine gravitometer Horizontal Stable Platforms and its control method, technical characterstic to be：Include the following steps：Step 1 passes through control speed ring, realizes the speed control of Horizontal Stable Platform：The forward path of the speed ring includes speed control, PMW, motor, load；The feedback channel of speed ring includes the position differentiation element of rate gyroscope and the inclination angle MEMS tester；Step 2 passes through control position ring, realizes the position control of Horizontal Stable Platform：The forward path of position ring includes tracker, positioner, speed control, PWM, motor, load integral element, and the feedback channel of position ring includes the integral element and the inclination angle MEMS tester of rate gyroscope.The present invention improves the precision of feedback signal, and then improves the precision of stability contorting, thereby reduces the cost of equipment.
Description
Technical field
The invention belongs to marine gravitometer technical fields, are related to marine gravitometer Horizontal Stable Platform, especially a kind of
Marine gravitometer Horizontal Stable Platform and its control method.
Background technique
Currently, since Horizontal Stable Platform has isolation carrier turbulence, guarantees stable specific of flat equipments on stage, it is external compared with
It is early that relevant research and practical application have been carried out to Horizontal Stable Platform, one is formd in terms of theoretical research and engineer application
It is made into ripe theory and design specification.In terms of on-board equipment, stabilized platform is primarily to keep optoelectronic device view on naval vessels
The stabilization of axis overcomes the influence of the factors such as marine stormy waves, the shaking of warship body.
With the raising in sea gravity measurement operation process to sea gravity measurement required precision, in order to which gravimeter is isolated
Changed by the heave of waves speed of a ship or plane and course, and its vibration and sea wind discuss the influence of the disturbing factors such as ocean current, conventional level
Stabilized platform scheme is based on wide, high-precision inertial navigation set to meet in high precision (± 0.1 °), high dynamic (± 30 °,
Technical requirement 5s), there are at high price, volume is big, weight weight, is unable to satisfy miniaturization, moderate demand
Problem.
Summary of the invention
The purpose of the present invention is to provide a kind of designs rationally, high dynamic and a kind of high-precision marine gravitometer are horizontal
Stabilized platform and its control method.
A kind of marine gravitometer Horizontal Stable Platform, including stage body, pitching frame, rolling frame, carrier platform；Its feature exists
In：It is vertically fixed with rolling frame on the stage body, is vertically fixed with carrier platform on the stage body on front side of the rolling frame, the carrier
Platform is that plate structure and upper and lower both sides of the face extend to be formed with respectively backward and put down with its integrally formed pitching frame, the carrier
Platform is packed between the upper side frame and lower frame of rolling frame by the pitching frame；It is formed on the front end face of the carrier platform multiple
Perpendicular to the vertical slot of stage body, two optical fibre gyros and the test of the single inclination angle MEMS are separately installed in two adjacent vertical slots
Instrument, the optical fibre gyro and the inclination angle MEMS tester are located at the geometric center position of carrier platform, one of optical fibre gyro it is defeated
Shaft is parallel to rolling frame, and the output shaft of another optical fibre gyro is parallel to pitching frame.
A kind of control method of marine gravitometer Horizontal Stable Platform, including it is following rapid：
Step 1 passes through control speed ring, realizes the speed control of Horizontal Stable Platform：The forward path packet of the speed ring
Include speed control, PMW, motor, load；The feedback channel of speed ring includes rate gyroscope and the inclination angle MEMS tester
Position differentiation element；
Step 2 passes through control position ring, realizes the position control of Horizontal Stable Platform：The forward path of position ring includes
Tracker, positioner, speed control, PWM, motor, load integral element, the feedback channel of position ring includes rate top
The integral element and the inclination angle MEMS tester of spiral shell instrument.
Moreover, the specific steps of the step 1 include：
(1) angle position information of positioner carries out input of the differential as speed control；
(2) speed signal of speed control carries out output of the PMW processing as motor, by the speed of motor control load
Degree；
(3) it is current to detect that the position progress differential of present level stabilized platform obtains stabilized platform for the inclination angle MEMS tester
Angular velocity information, then detect level using the current angular velocity information of steady fixed platform and optical fibre gyro as rate gyroscope
The current velocity information of stabilized platform arrives after limit value and Kalman filter processing as the feedback signal back of speed ring
The speed control of speed control realization Horizontal Stable Platform.
Moreover, the inclination angle the MEMS tester of (3) step of the step 1 detect the position of present level stabilized platform into
The specific method that row differential obtains the current angular velocity information of Horizontal Stable Platform is：It is current that output is surveyed by the inclination angle MEMS tester
Horizontal angle under geographic coordinate system, sets the desired location of position closed-loop control, and the desired location is exported to tracker；It is described
Tracker exports the real-time position information that test obtains Horizontal Stable Platform to positioner；The positioner is by position
The angle position information for setting controller carries out differential and exports to speed control；The speed signal of speed control is subjected to PMW again
Output is to motor after processing, by the angular speed of motor control load.
Moreover, the angular velocity information and optical fibre gyro that Horizontal Stable Platform is current of (3) step of the step 1 as
Rate gyroscope detects that the current velocity information of Horizontal Stable Platform is by the method that limit value and Kalman filter are handled：It is false
Determine XkFor the filtered position signal of t moment, Xk-1For t-1 moment filtered position signal, Xk,k-1For the t-1 moment to t moment
Filtered position estimation value, PkFor t moment position signal error covariance, Pk-1For t-1 moment position signal error association side
Difference, Pk,k-1For the error covariance at t-1 moment and t moment position, ZkFor actual angle output quantity, KkFor Kalman filter
Gain coefficient, through analyze the inclination angle MEMS tester angle signal noise variance matrix QkNon- positive definite, RkPositive definite then has：
Kk=Pk,k-1[Pk,k-1+Rk]-1
Pk,k-1=Pk-1
Moreover, the specific steps of the step 2 include：
(1) horizontal angle under output current geographic coordinate system is surveyed according to the inclination angle MEMS tester, setting position closed-loop control
Desired location；
(2) real-time position information for obtaining Horizontal Stable Platform is tested by tracker, the input as positioner is believed
Breath；
(3) input information carries out the position letter that integral obtains real-time Horizontal Stable Platform by the forward path of speed ring
Breath；
(4) inclination angle MEMS tester detect present level stabilized platform location information and optical fibre gyro as rate top
The location information that spiral shell integrates, as the feedback signal back of position ring to tracking after limit value and Kalman filter processing
Device realizes the position control of Horizontal Stable Platform.
Moreover, the specific method of (3) step of the step 2 is：
The inclination angle MEMS tester, which detects that the position of present level stabilized platform is integrated and obtains Horizontal Stable Platform, works as
The current speed of the Horizontal Stable Platform is detected that Horizontal Stable Platform is worked as rate gyroscope with optical fibre gyro by preceding speed
Preceding speed is exported as the feedback signal of speed ring to speed control, realizes the speed control of Horizontal Stable Platform, speed
The velocity information of ring is integrated to obtain the location information of Horizontal Stable Platform.
The location information that the inclination angle MEMS tester is detected to present level stabilized platform of (4) step of the step 2
The location information integrated with optical fibre gyro as rate gyroscope, the method by limit value and Kalman filter processing are：It is false
Determine XkFor the filtered position signal of t moment, Xk-1For t-1 moment filtered position signal, Xk,k-1For the t-1 moment to t moment
Filtered position estimation value, PkFor t moment position signal error covariance, Pk-1For t-1 moment position signal error association side
Difference, Pk,k-1For the error covariance at t-1 moment and t moment position, ZkFor actual angle output quantity, KkFor Kalman filter
Gain coefficient, through analyze the inclination angle MEMS tester angle signal noise variance matrix QkNon- positive definite, RkPositive definite then has：
Kk=Pk,k-1[Pk,k-1+Rk]-1
Pk,k-1=Pk-1
The advantages of the present invention：
1, the invention discloses a kind of Horizontal Stable Platform and its control based on optical fibre gyro and the inclination angle MEMS tester
Method, using the resulting rate information of angle information differential of the angular rate information of optical fibre gyro and the inclination angle MEMS tester as
The feedback information of speed ring；The integral of the angular rate information of optical fibre gyro and the angle information of the inclination angle MEMS tester are as position
The feedback information of ring；The stability contorting to Horizontal Stable Platform is realized according to the control of speed control ring and position control ring.
The present invention is based on optical fibre gyros and the inclination angle MEMS tester to realize high dynamic, high-precision Horizontal Stable Platform.
2, the present invention is by the way that optical fibre gyro and the inclination angle MEMS tester realize high dynamic, high-precision water steadying allocates
Platform requirement, solve conventional control method due to using with wide, high-precision inertial navigation set and existing price is high
The technical issues of high, volume is big, weight weight, is unable to satisfy miniaturization, moderate demand, with promotional value.
3, the angular velocity information of the optical fibre gyro of the invention by high data updating rate realizes the steady of the speed ring of high dynamic
Fixed control；Angle Position obtained by after being merged as the angle information of the inclination angle MEMS tester with the angular velocity information of optical fibre gyro
The stability contorting of information realization position ring；And the velocity information as obtained by the angle information differential to the inclination angle MEMS tester carries out
The drift of optical fibre gyro is compensated after limit value, filtering.
4, invention of the present invention, which is realized merely with two optical fibre gyros with a MEMS obliquity sensor, is suitable for high move
The high-accuracy stable plateform system of state has size small, and weight is light, low-cost feature；
5, the present invention is using directly using the signal of the 4kHz of optical fibre gyro as feedback signal, overcoming inertial navigation and set
Standby feedback signal exports slow problem；
6, the present invention carries out differential to optical fiber top using the pitch angle of the inclination angle MEMS tester output and the information of roll angle
The angle information that the drift of spiral shell obtains after compensating realizes the stability contorting of the position ring of stabilized platform, can overcome optical fiber top
The problem of output of spiral shell is drifted about at any time；
7, the present invention phenomenon big for the inclination angle MEMS tester noise when waving, is added in feedback algorithm to MEMS
The High Limit algorithm of inclination angle tester output information and the algorithm of Kalman filter, improve the precision of feedback signal, Jin Erti
The high precision of stability contorting, thereby reduces the cost of equipment.
Detailed description of the invention
Fig. 1 is the overall structure diagram of Horizontal Stable Platform of the invention；
Fig. 2 is the control method process flow diagram of Horizontal Stable Platform of the invention.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing：
A kind of marine gravitometer Horizontal Stable Platform, as shown in Figure 1, including stage body 6, pitching frame 1, rolling frame 2, carrier
3, two optical fibre gyros 4 of platform and the inclination angle MEMS tester 5；Rolling frame is vertically fixed on the stage body, the rolling frame is in side
Shape；It is vertically fixed with carrier platform on the stage body on front side of the rolling frame, which is square platy structure and upper and lower two
Side end face, which extends to be formed with respectively backward, is packed in rolling by the pitching frame with its integrally formed pitching frame, the carrier platform
Between the upper side frame and lower frame of frame；Multiple vertical slot 3-1 perpendicular to stage body are formed on the front end face of the carrier platform, in phase
Two optical fibre gyros and the single inclination angle MEMS tester, the optical fibre gyro and the inclination angle MEMS are separately installed in two adjacent vertical slots
Tester is located at the geometric center position of carrier platform, and the output shaft of one of optical fibre gyro is parallel to rolling frame, another
The output shaft of optical fibre gyro is parallel to pitching frame.
A kind of control method of marine gravitometer Horizontal Stable Platform, as shown in Fig. 2, including following rapid：
Step 1 passes through control speed ring, realizes the speed control of Horizontal Stable Platform；
The specific steps of the step 1 include：
(1) angle position information of positioner carries out input of the differential as speed control；
(2) speed signal of speed control carries out output of the PMW processing as motor, by motor control load (i.e. water
Steady fixed platform) speed；
(3) it is current to detect that the position progress differential of present level stabilized platform obtains stabilized platform for the inclination angle MEMS tester
Angular velocity information, then detect level using the current angular velocity information of steady fixed platform and optical fibre gyro as rate gyroscope
The current velocity information of stabilized platform arrives after limit value and Kalman filter processing as the feedback signal back of speed ring
The speed control of speed control realization Horizontal Stable Platform.
It is micro- that the inclination angle the MEMS tester of (3) step of the step 1 detects that the position of present level stabilized platform carries out
The specific method for getting the current angular velocity information of Horizontal Stable Platform is：Output current geographic is surveyed by the inclination angle MEMS tester
Horizontal angle under coordinate system, sets the desired location of position closed-loop control, and the desired location is exported to tracker；The tracking
Device exports the real-time position information that test obtains Horizontal Stable Platform to positioner；The positioner controls position
The angle position information of device processed carries out differential and exports to speed control；The speed signal of speed control is subjected to PMW processing again
After export to motor, by the angular speed of motor control load (i.e. Horizontal Stable Platform).
The angular velocity information and optical fibre gyro that Horizontal Stable Platform is current of (3) step of the step 1 are as rate
Gyro detects that the current velocity information of Horizontal Stable Platform is by the method that limit value and Kalman filter are handled：It is assumed that Xk
For the filtered position signal of t moment, Xk-1For t-1 moment filtered position signal, Xk,k-1It is filtered for the t-1 moment to t moment
Position estimation value afterwards, PkFor t moment position signal error covariance, Pk-1For t-1 moment position signal error covariance,
Pk,k-1For the error covariance at t-1 moment and t moment position, ZkFor actual angle output quantity, KkFor Kalman filter
Gain coefficient, through the angle signal noise variance matrix Q for analyzing the inclination angle MEMS testerkNon- positive definite, RkPositive definite then has：
Kk=Pk,k-1[Pk,k-1+Rk]-1
Pk,k-1=Pk-1
In the present embodiment, the limit value is 0.018 degrees second；
Step 2 passes through control position ring, realizes the position control of Horizontal Stable Platform；
(1) horizontal angle under output current geographic coordinate system is surveyed according to the inclination angle MEMS tester, setting position closed-loop control
Desired location；
(2) real-time position information for obtaining Horizontal Stable Platform is tested by tracker, the input as positioner is believed
Breath；
(3) input information carries out the position letter that integral obtains real-time Horizontal Stable Platform by the forward path of speed ring
Breath；
The specific method of (3) step of the step 2 is：
The inclination angle MEMS tester, which detects that the position of present level stabilized platform is integrated and obtains Horizontal Stable Platform, works as
The current speed of the Horizontal Stable Platform is detected that Horizontal Stable Platform is worked as rate gyroscope with optical fibre gyro by preceding speed
Preceding speed is exported as the feedback signal of speed ring to speed control, realizes the speed control of Horizontal Stable Platform, speed
The velocity information of ring is integrated to obtain the location information of Horizontal Stable Platform, and the inclination angle MEMS tester detects that present level is steady
Feedback of the change in location information that the location information of fixed platform and optical fibre gyro integrate as rate gyroscope as position ring
Signal is fed back to tracker, realizes the position control of Horizontal Stable Platform.
(4) inclination angle MEMS tester detect present level stabilized platform location information and optical fibre gyro as rate top
The location information that spiral shell integrates, as the feedback signal back of position ring to tracking after limit value and Kalman filter processing
Device realizes the position control of Horizontal Stable Platform.
The location information that the inclination angle MEMS tester is detected to present level stabilized platform of (4) step of the step 2
The location information integrated with optical fibre gyro as rate gyroscope, the method by limit value and Kalman filter processing are：It is false
Determine XkFor the filtered position signal of t moment, Xk-1For t-1 moment filtered position signal, Xk,k-1For the t-1 moment to t moment
Filtered position estimation value, PkFor t moment position signal error covariance, Pk-1For t-1 moment position signal error association side
Difference, Pk,k-1For the error covariance at t-1 moment and t moment position, ZkFor actual angle output quantity, KkFor Kalman filter
Gain coefficient, through analyze the inclination angle MEMS tester angle signal noise variance matrix QkNon- positive definite, RkPositive definite then has：
Kk=Pk,k-1[Pk,k-1+Rk]-1
Pk,k-1=Pk-1
In the present embodiment, the limit value is 0.018 degrees second；
The operation principle of the present invention is that：
The present invention utilizes the angular rate information of optical fibre gyro and the resulting speed of location information differential of the inclination angle MEMS tester
Speed ring feedback information of the rate information as Horizontal Stable Platform, to meet the needs of high dynamic.The rate information of optical fibre gyro
Feedback information of the location information of obtained location information and the filtered inclination angle MEMS tester as position ring is integrated, to obtain
Obtain high-precision position precision demand.
Horizontal Stable Platform single shaft control system control process is as shown in Fig. 2, Horizontal Stable Platform single shaft control includes speed
Ring control is spent to control with position ring.The forward path of speed ring includes speed control, PMW (pulse width modulation), motor, bears
It carries；The feedback channel of speed ring includes the position differentiation element of rate gyroscope and the inclination angle MEMS tester.Before position ring
It include tracker, positioner, speed control, PWM, motor, load integral element, the feedback channel of position ring to channel
Integral element and the inclination angle MEMS tester including rate gyroscope.
The closed-loop control of speed ring is realized by the position differential signal of rate gyroscope and the inclination angle MEMS tester；It is specific
Process is：Horizontal angle under output current geographic coordinate system is surveyed by the inclination angle MEMS tester, sets the expection position of position closed-loop control
It sets.The real-time position information for obtaining Horizontal Stable Platform, the input information as positioner are tested by tracker.By position
The angle position information of controller carries out input of the differential as speed control.The speed signal of speed control carries out at PMW
The output as motor is managed, by the speed of motor control load (i.e. Horizontal Stable Platform).
The closed-loop control of position ring is integrated by rate gyroscope and the position signal of the inclination angle MEMS tester is realized；It is specific
Process is：The inclination angle MEMS tester detects that the position of present level stabilized platform is integrated and obtains Horizontal Stable Platform current
Speed, the current speed of the Horizontal Stable Platform is detected that Horizontal Stable Platform is current as rate gyroscope with optical fibre gyro
Speed as speed ring feedback signal back to speed control, realize the speed control of Horizontal Stable Platform.Speed ring
Velocity information integrated to obtain the location information of Horizontal Stable Platform, the inclination angle MEMS tester detects that present level is stablized
Feedback letter of the change in location information that the location information of platform and optical fibre gyro integrate as rate gyroscope as position ring
Number feedback arrive tracker, realize the position control of Horizontal Stable Platform.
The present invention in order to improve the control precision of position, to the angle information of the inclination angle MEMS tester carried out limit value and
Noise model is established to be filtered with kalman.
The Kalman filter treatment process of the angle information noise of the inclination angle MEMS tester is as follows.It is assumed that XkWhen for t
Carve filtered position signal, Xk-1For t-1 moment filtered position signal, Xk,k-1It is filtered to t moment for the t-1 moment
Position estimation value, PkFor t moment position signal error covariance, Pk-1For t-1 moment position signal error covariance, Pk,k-1For
The error covariance at t-1 moment and t moment position, ZkFor actual angle output quantity, KkFor the gain system of Kalman filter
Number, through the angle signal noise variance matrix Q for analyzing the inclination angle MEMS testerkNon- positive definite, RkPositive definite.By this algorithm, to level
Closed loop command signal in stabilized platform in speed ring and position ring has carried out filtering and has looked for the truth, and level can be improved based on the method
The control precision of stabilized platform, and then realize high-precision Horizontal Stable Platform.
Kk=Pk,k-1[Pk,k-1+Rk]-1
Pk,k-1=Pk-1
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore the present invention includes
It is not limited to embodiment described in specific embodiment, it is all to be obtained according to the technique and scheme of the present invention by those skilled in the art
Other embodiments, also belong to the scope of protection of the invention.
Claims (8)
1. a kind of marine gravitometer Horizontal Stable Platform, including stage body, pitching frame, rolling frame, carrier platform；Its feature exists
In：It is vertically fixed with rolling frame on the stage body, is vertically fixed with carrier platform on the stage body on front side of the rolling frame, the carrier
Platform is that plate structure and upper and lower both sides of the face extend to be formed with respectively backward and put down with its integrally formed pitching frame, the carrier
Platform is packed between the upper side frame and lower frame of rolling frame by the pitching frame；It is formed on the front end face of the carrier platform multiple
Perpendicular to the vertical slot of stage body, two optical fibre gyros and the test of the single inclination angle MEMS are separately installed in two adjacent vertical slots
Instrument, the optical fibre gyro and the inclination angle MEMS tester are located at the geometric center position of carrier platform, one of optical fibre gyro it is defeated
Shaft is parallel to rolling frame, and the output shaft of another optical fibre gyro is parallel to pitching frame.
2. a kind of control method of marine gravitometer Horizontal Stable Platform as described in claim 1, it is characterised in that：Including
It is rapid below：
Step 1 passes through control speed ring, realizes the speed control of Horizontal Stable Platform：The forward path of the speed ring includes speed
Spend controller, PMW, motor, load；The feedback channel of speed ring includes the position of rate gyroscope and the inclination angle MEMS tester
Differentiation element；
Step 2 passes through control position ring, realizes the position control of Horizontal Stable Platform：The forward path of position ring includes tracking
Device, positioner, speed control, PWM, motor, load integral element, the feedback channel of position ring includes rate gyroscope
Integral element and the inclination angle MEMS tester.
3. a kind of control method of marine gravitometer Horizontal Stable Platform according to claim 2, it is characterised in that：Institute
The specific steps for stating step 1 include：
(1) angle position information of positioner carries out input of the differential as speed control；
(2) speed signal of speed control carries out output of the PMW processing as motor, by the speed of motor control load；
(3) inclination angle MEMS tester detects that the position of present level stabilized platform carries out differential and obtains the current angle of stabilized platform
Then velocity information detects horizontal stable using the current angular velocity information of steady fixed platform and optical fibre gyro as rate gyroscope
The current velocity information of platform is after limit value and Kalman filter processing as the feedback signal back of speed ring to speed
The speed control of controller realization Horizontal Stable Platform.
4. a kind of control method of marine gravitometer Horizontal Stable Platform according to claim 3, it is characterised in that：Institute
The inclination angle the MEMS tester for stating (3) step of step 1 detects that the position of present level stabilized platform carries out differential and obtains level
The specific method of the current angular velocity information of stabilized platform is：It is surveyed under output current geographic coordinate system by the inclination angle MEMS tester
Horizontal angle, sets the desired location of position closed-loop control, and the desired location is exported to tracker；The tracker obtains test
The real-time position information for obtaining Horizontal Stable Platform is exported to positioner；The positioner is by the angle of positioner position
Confidence breath carries out differential and exports to speed control；It exports after the speed signal of speed control is carried out PMW processing again to electricity
Machine, by the angular speed of motor control load.
5. a kind of control method of marine gravitometer Horizontal Stable Platform according to claim 3, it is characterised in that：Institute
The angular velocity information and optical fibre gyro that Horizontal Stable Platform is current for stating (3) step of step 1 are detected as rate gyroscope
The current velocity information of Horizontal Stable Platform passes through limit value and the method for Kalman filter processing is：It is assumed that XkFor t moment filter
Position signal after wave, Xk-1For t-1 moment filtered position signal, Xk,k-1For the t-1 moment to the filtered position of t moment
Estimated value, PkFor t moment position signal error covariance, Pk-1For t-1 moment position signal error covariance, Pk,k-1When for t-1
Carve the error covariance with t moment position, ZkFor actual angle output quantity, KkFor the gain coefficient of Kalman filter, through point
Analyse the angle signal noise variance matrix Q of the inclination angle MEMS testerkNon- positive definite, RkPositive definite then has：
Kk=Pk,k-1[Pk,k-1+Rk]-1
Pk,k-1=Pk-1
6. a kind of control method of marine gravitometer Horizontal Stable Platform according to claim 2 or 3, feature exist
In：The specific steps of the step 2 include：
(1) horizontal angle under output current geographic coordinate system is surveyed according to the inclination angle MEMS tester, sets the expection of position closed-loop control
Position；
(2) real-time position information for obtaining Horizontal Stable Platform, the input information as positioner are tested by tracker；
(3) input information carries out the location information that integral obtains real-time Horizontal Stable Platform by the forward path of speed ring；
(4) inclination angle MEMS tester detects that the location information of present level stabilized platform and optical fibre gyro are long-pending as rate gyroscope
The location information got, the feedback signal back after limit value and Kalman filter processing as position ring to tracker,
Realize the position control of Horizontal Stable Platform.
7. a kind of control method of marine gravitometer Horizontal Stable Platform according to claim 6, it is characterised in that：Institute
The specific method for stating (3) step of step 2 is：
The inclination angle MEMS tester detects that the position of present level stabilized platform is integrated and obtains that Horizontal Stable Platform is current
Speed detects Horizontal Stable Platform currently for the current speed of the Horizontal Stable Platform and optical fibre gyro as rate gyroscope
Speed is exported as the feedback signal of speed ring to speed control, realizes the speed control of Horizontal Stable Platform, speed ring
Velocity information is integrated to obtain the location information of Horizontal Stable Platform.
8. a kind of control method of marine gravitometer Horizontal Stable Platform according to claim 6, it is characterised in that：Institute
State location information and the optical fibre gyro that the inclination angle MEMS tester is detected to present level stabilized platform of (4) step of step 2
As the location information that rate gyroscope integrates, it is by the method that limit value and Kalman filter are handled：It is assumed that XkFor t moment
Filtered position signal, Xk-1For t-1 moment filtered position signal, Xk,k-1For the t-1 moment to the filtered position of t moment
Set estimated value, PkFor t moment position signal error covariance, Pk-1For t-1 moment position signal error covariance, Pk,k-1For t-1
The error covariance at moment and t moment position, ZkFor actual angle output quantity, KkFor the gain coefficient of Kalman filter, warp
Analyze the angle signal noise variance matrix Q of the inclination angle MEMS testerkNon- positive definite, RkPositive definite；
Then have：
Kk=Pk,k-1[Pk,k-1+Rk]-1
Pk,k-1=Pk-1
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