CN108873092B - Water stable fixed platform for marine gravimeter and control method thereof - Google Patents
Water stable fixed platform for marine gravimeter and control method thereof Download PDFInfo
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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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- 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
Abstract
The invention relates to a water stable fixed platform for an ocean gravimeter and a control method thereof, which are technically characterized in that: the method comprises the following steps: step 1, realizing the speed control of a horizontal stable platform by controlling a speed ring: the forward channel of the speed ring comprises a speed controller, a PMW, a motor and a load; the feedback channel of the speed loop comprises a rate gyroscope and a position differential link of an MEMS inclination angle tester; step 2, realizing the position control of the horizontal stable platform by controlling the position ring: the forward channel of the position loop comprises a tracker, a position controller, a speed controller, PWM, a motor and a load integration link, and the feedback channel of the position loop comprises an integration link of a rate gyroscope and an MEMS inclination angle tester. The invention improves the precision of the feedback signal, further improves the precision of stable control, and further reduces the cost of equipment.
Description
Technical Field
The invention belongs to the technical field of marine gravimeters, and relates to a water stable fixed platform for a marine gravimeter, in particular to a water stable fixed platform for a marine gravimeter and a control method thereof.
Background
At present, because the water stable fixed platform has the characteristics of isolating carrier disturbance and ensuring the stability of equipment on the platform, the horizontal stable platform is relatively researched and practically applied abroad, and a mature theory and design specification is formed in the aspects of theoretical research and engineering application. In the aspect of shipboard equipment, the stabilizing platform is mainly used for keeping the stability of a visual axis of photoelectric equipment on a ship and overcoming the influence of factors such as sea wind waves, ship body shaking and the like.
With the improvement of the requirement on the precision of the marine gravity measurement in the process of the marine gravity measurement operation, in order to isolate the influence of the fluctuation speed and the course change of sea waves, the vibration of the sea waves, the sea current of sea wind theory and other interference factors on the gravimeter, the conventional horizontal stable platform scheme is based on wide-bandwidth and high-precision inertial navigation equipment to meet the technical index requirements of high precision (+/-0.1 degrees) and high dynamic (+/-30 degrees and 5 seconds), and has the problems of high price, large volume, heavy weight, incapability of meeting the requirements of miniaturization and moderate price.
Disclosure of Invention
The invention aims to provide a water stable fixed platform for an ocean gravimeter with reasonable design, high dynamic state and high precision and a control method thereof.
A water stable fixed platform for an ocean gravimeter comprises a platform body, a pitching frame, a swaying frame and a carrier platform; the method is characterized in that: a transverse rocking frame is vertically and fixedly arranged on the table body, a carrier platform is vertically and fixedly arranged on the table body on the front side of the transverse rocking frame, the carrier platform is of a plate-shaped structure, the end surfaces of the upper side and the lower side of the carrier platform respectively extend backwards to form a pitching frame integrally formed with the carrier platform, and the carrier platform is fixedly arranged between the upper frame and the lower frame of the transverse rocking frame through the pitching frame; the front end face of the carrier platform is provided with a plurality of vertical grooves perpendicular to the platform body, two optical fiber gyroscopes and a single MEMS inclination angle tester are respectively arranged in two adjacent vertical grooves, the optical fiber gyroscopes and the MEMS inclination angle testers are positioned at the geometric center of the carrier platform, the output shaft of one optical fiber gyroscope is parallel to the rolling frame, and the output shaft of the other optical fiber gyroscope is parallel to the pitching frame.
A control method for stabilizing a platform by using water for an ocean gravimeter comprises the following steps:
step 2, realizing the position control of the horizontal stable platform by controlling the position ring: the forward channel of the position loop comprises a tracker, a position controller, a speed controller, PWM, a motor and a load integration link, and the feedback channel of the position loop comprises an integration link of a rate gyroscope and an MEMS inclination angle tester.
Further, the specific steps of step 1 include:
(1) differentiating the angular position information of the position controller as an input of the speed controller;
(2) the speed signal of the speed controller is subjected to PMW processing to be used as the output of the motor, and the speed of the load is controlled by the motor;
(3) the MEMS inclination angle tester detects the position of the current horizontal stable platform and differentiates the position to obtain the current angular velocity information of the stable platform, and then the current angular velocity information of the stable fixed platform and the current velocity information of the horizontal stable platform detected by the fiber optic gyroscope as a rate gyroscope are fed back to the velocity controller as the feedback signal of the velocity loop after limit value and Kalman filtering processing, so as to realize the velocity control of the horizontal stable platform.
Moreover, the specific method for obtaining the current angular velocity information of the horizontal stable platform by differentiating the position of the current horizontal stable platform detected by the MEMS inclination tester in the step (3) of the step 1 is as follows: measuring and outputting a horizontal angle under the current geographic coordinate system by an MEMS inclination angle tester, setting an expected position of closed-loop control, and outputting the expected position to a tracker; the tracker outputs real-time position information of the horizontal stable platform obtained by testing to the position controller; the position controller differentiates the angular position information of the position controller and outputs the angular position information to the speed controller; and then the speed signal of the speed controller is output to the motor after being PMW processed, and the angular speed of the load is controlled by the motor.
In step (3) of step 1, the method for limiting and Kalman filtering the current angular velocity information of the horizontal stable platform and the current velocity information of the horizontal stable platform detected by the fiber optic gyroscope as the rate gyro comprises: suppose XkFor the filtered position signal at time t, Xk-1For the position signal filtered at time t-1, Xk,k-1For the filtered position estimate, P, from time t-1 to time tkFor the time t position signal error covariance, Pk-1For the covariance of the position signal error at time t-1, Pk,k-1Is the covariance of the error of the position at time t-1 and time t, ZkFor actual angular output, KkAnalyzing an angle signal noise variance matrix Q of the MEMS inclination tester for gain coefficients of the Kalman filterkNot being defined, RkPositive determination, then:
Kk＝Pk,k-1[Pk,k-1+Rk]-1
Pk,k-1＝Pk-1
further, the specific steps of step 2 include:
(1) setting an expected position of closed-loop control according to a horizontal angle of the MEMS inclination angle tester under the current geographic coordinate system;
(2) real-time position information of the horizontal stable platform is obtained through the test of the tracker and is used as input information of the position controller;
(3) the input information is integrated through a forward channel of the speed ring to obtain the position information of the real-time horizontal stable platform;
(4) the MEMS inclination angle tester detects the position information of the current horizontal stable platform and the position information obtained by integrating the fiber-optic gyroscope as a rate gyroscope, and the position information is fed back to the tracker as a feedback signal of a position loop after being processed by limit value and Kalman filtering, so that the position control of the horizontal stable platform is realized.
Moreover, the specific method in the step (3) of the step 2 is as follows:
the MEMS inclination angle tester detects the position of the current horizontal stable platform and integrates to obtain the current speed of the horizontal stable platform, the current speed of the horizontal stable platform and the current speed of the horizontal stable platform detected by the fiber optic gyroscope as a rate gyroscope are output to the speed controller as feedback signals of the speed loop, the speed control of the horizontal stable platform is realized, and the speed information of the speed loop is integrated to obtain the position information of the horizontal stable platform.
Step (4) of the step 2, the position information of the current horizontal stable platform detected by the MEMS inclination angle tester and the position information obtained by integrating the fiber optic gyroscope as the rate gyro are processed by limiting value and Kalman filteringThe method comprises the following steps: suppose XkFor the filtered position signal at time t, Xk-1For the position signal filtered at time t-1, Xk,k-1For the filtered position estimate, P, from time t-1 to time tkFor the time t position signal error covariance, Pk-1For the covariance of the position signal error at time t-1, Pk,k-1Is the covariance of the error of the position at time t-1 and time t, ZkFor actual angular output, KkAnalyzing an angle signal noise variance matrix Q of the MEMS inclination tester for gain coefficients of the Kalman filterkNot being defined, RkPositive determination, then:
Kk＝Pk,k-1[Pk,k-1+Rk]-1
Pk,k-1＝Pk-1
the invention has the advantages and beneficial effects that:
1. the invention discloses a horizontal stable platform based on a fiber-optic gyroscope and an MEMS inclination tester and a control method thereof, wherein rate information obtained by differentiating angle rate information of the fiber-optic gyroscope and angle information of the MEMS inclination tester is used as feedback information of a speed loop; the integral of the angular rate information of the fiber-optic gyroscope and the angle information of the MEMS inclination angle tester are used as feedback information of the position loop; and the stable control of the horizontal stable platform is realized according to the control of the speed control loop and the position control loop. The invention realizes a high-dynamic and high-precision horizontal stable platform based on the fiber-optic gyroscope and the MEMS inclination angle tester.
2. The invention realizes the requirements of a high dynamic and high precision horizontal stable platform through the fiber-optic gyroscope and the MEMS inclination angle tester, solves the technical problems of high price, large volume, heavy weight, incapability of meeting the requirements of miniaturization and moderate price due to the adoption of wide-bandwidth and high-precision inertial navigation equipment in the conventional control method, and has popularization value.
3. The invention realizes the stable control of a high dynamic speed loop through the angular velocity information of the optical fiber gyroscope with high data updating rate; the stable control of the position ring is realized through the angular position information obtained after the angular information of the MEMS inclination angle tester and the angular velocity information of the fiber optic gyroscope are fused; and the drift of the fiber-optic gyroscope is compensated after limiting and filtering speed information obtained by differentiating the angle information of the MEMS inclination angle tester.
4. The invention realizes the high-dynamic high-precision stable platform system by only utilizing two fiber-optic gyroscopes and one MEMS tilt angle sensor, and has the characteristics of small size, light weight and low price;
5. the invention utilizes the 4kHz signal of the optical fiber gyroscope directly as the feedback signal, thereby overcoming the problem of slow output of the feedback signal of the inertial navigation equipment;
6. the invention utilizes the pitch angle and roll angle information output by the MEMS inclination angle tester to differentiate and compensate the drift of the fiber-optic gyroscope, and then obtains the angle information to realize the stable control of the position ring of the stable platform, thereby overcoming the problem that the output of the fiber-optic gyroscope drifts along with the time;
7. aiming at the phenomenon that the MEMS inclination angle tester has large noise when swinging, the limit algorithm of the output information of the MEMS inclination angle tester and the Kalman filtering algorithm are added into the feedback algorithm, so that the precision of the feedback signal is improved, the precision of stable control is improved, and the cost of equipment is reduced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the horizontal stabilization platform of the present invention;
FIG. 2 is a flow chart of the control method of the horizontal stabilization platform of the present invention.
Detailed Description
The embodiments of the invention will be described in further detail below with reference to the accompanying drawings:
a water stable fixed platform for an ocean gravimeter is shown in figure 1 and comprises a platform body 6, a pitching frame 1, a rolling frame 2, a carrier platform 3, two fiber optic gyroscopes 4 and an MEMS inclination angle tester 5; a transverse rocking frame is vertically and fixedly arranged on the table body and is square; a carrier platform is vertically and fixedly arranged on the platform body on the front side of the roll frame, the carrier platform is of a square plate-shaped structure, the end surfaces of the upper side and the lower side of the carrier platform respectively extend backwards to form a pitching frame integrally formed with the carrier platform, and the carrier platform is fixedly arranged between the upper frame and the lower frame of the roll frame through the pitching frame; the front end face of the carrier platform is provided with a plurality of vertical grooves 3-1 vertical to the platform body, two optical fiber gyroscopes and a single MEMS inclination angle tester are respectively arranged in two adjacent vertical grooves, the optical fiber gyroscopes and the MEMS inclination angle testers are positioned at the geometric center of the carrier platform, the output shaft of one optical fiber gyroscope is parallel to the rolling frame, and the output shaft of the other optical fiber gyroscope is parallel to the pitching frame.
A control method for stabilizing a platform by using water for a marine gravimeter, as shown in FIG. 2, comprises the following steps:
the specific steps of the step 1 comprise:
(1) differentiating the angular position information of the position controller as an input of the speed controller;
(2) the speed signal of the speed controller is subjected to PMW processing to be used as the output of a motor, and the motor controls the speed of a load (namely a horizontal stable platform);
(3) the MEMS inclination angle tester detects the position of the current horizontal stable platform and differentiates the position to obtain the current angular velocity information of the stable platform, and then the current angular velocity information of the stable fixed platform and the current velocity information of the horizontal stable platform detected by the fiber optic gyroscope as a rate gyroscope are fed back to the velocity controller as the feedback signal of the velocity loop after limit value and Kalman filtering processing, so as to realize the velocity control of the horizontal stable platform.
The specific method for obtaining the current angular velocity information of the horizontal stable platform by differentiating the position of the current horizontal stable platform detected by the MEMS inclination angle tester in the step (3) in the step 1 comprises the following steps: measuring and outputting a horizontal angle under the current geographic coordinate system by an MEMS inclination angle tester, setting an expected position of closed-loop control, and outputting the expected position to a tracker; the tracker outputs real-time position information of the horizontal stable platform obtained by testing to the position controller; the position controller differentiates the angular position information of the position controller and outputs the angular position information to the speed controller; and then the speed signal of the speed controller is output to the motor after being PMW processed, and the motor controls the angular speed of the load (namely the horizontal stable platform).
The method for limiting and Kalman filtering the current angular velocity information of the horizontal stable platform and the current velocity information of the horizontal stable platform detected by the fiber optic gyroscope as the rate gyroscope in the step (3) of the step 1 comprises the following steps: suppose XkFor the filtered position signal at time t, Xk-1For the position signal filtered at time t-1, Xk,k-1For the filtered position estimate, P, from time t-1 to time tkFor the time t position signal error covariance, Pk-1For the covariance of the position signal error at time t-1, Pk,k-1Is the covariance of the error of the position at time t-1 and time t, ZkFor actual angular output, KkAnalyzing an angle signal noise variance matrix Q of the MEMS inclination tester for gain coefficients of the Kalman filterkNot being defined, RkPositive determination, then:
Kk＝Pk,k-1[Pk,k-1+Rk]-1
Pk,k-1＝Pk-1
in this embodiment, the limit is 0.018 degrees/second;
step 2, realizing the position control of the horizontal stable platform by controlling the position ring;
(1) setting an expected position of closed-loop control according to a horizontal angle of the MEMS inclination angle tester under the current geographic coordinate system;
(2) real-time position information of the horizontal stable platform is obtained through the test of the tracker and is used as input information of the position controller;
(3) the input information is integrated through a forward channel of the speed ring to obtain the position information of the real-time horizontal stable platform;
the specific method in the step (3) of the step 2 comprises the following steps:
the MEMS inclination angle tester detects the position of the current horizontal stable platform to carry out integration to obtain the current speed of the horizontal stable platform, the current speed of the horizontal stable platform and the current speed of the horizontal stable platform detected by the fiber-optic gyroscope as a rate gyroscope are output to the speed controller as feedback signals of the speed loop to realize the speed control of the horizontal stable platform, the speed information of the speed loop is integrated to obtain the position information of the horizontal stable platform, the position information detected by the MEMS inclination angle tester and the position change information obtained by integrating the fiber-optic gyroscope as the rate gyroscope are fed back to the tracker as the feedback signals of the position loop to realize the position control of the horizontal stable platform.
(4) The MEMS inclination angle tester detects the position information of the current horizontal stable platform and the position information obtained by integrating the fiber-optic gyroscope as a rate gyroscope, and the position information is fed back to the tracker as a feedback signal of a position loop after being processed by limit value and Kalman filtering, so that the position control of the horizontal stable platform is realized.
The step (4) of the step 2 is that the position information of the current horizontal stable platform detected by the MEMS inclination angle tester and the position information obtained by integrating the fiber optic gyroscope as the rate gyro are subjected to limit value and Kalman filtering processing: suppose XkFor the filtered position signal at time t, Xk-1For the position signal filtered at time t-1, Xk,k-1For the filtered position estimate, P, from time t-1 to time tkFor the time t position signal error covariance, Pk-1For the covariance of the position signal error at time t-1, Pk,k-1Is the covariance of the error of the position at time t-1 and time t, ZkFor actual angular output, KkAnalyzing an angle signal noise variance matrix Q of the MEMS inclination tester for gain coefficients of the Kalman filterkNot being defined, RkPositive determination, then:
Kk＝Pk,k-1[Pk,k-1+Rk]-1
Pk,k-1＝Pk-1
in this embodiment, the limit is 0.018 degrees/second;
the working principle of the invention is as follows:
the invention utilizes the rate information obtained by differentiating the angular rate information of the fiber optic gyroscope and the position information of the MEMS inclination angle tester as the rate loop feedback information of the horizontal stable platform so as to meet the requirement of high dynamics. And position information obtained by integrating the rate information of the fiber-optic gyroscope and the position information of the MEMS inclination angle tester after filtering are used as feedback information of a position loop so as to obtain the requirement of high-precision position precision.
The control flow of the horizontal stabilized platform single-shaft control system is shown in fig. 2, and the horizontal stabilized platform single-shaft control comprises speed loop control and position loop control. The forward path of the speed loop includes speed controller, PMW (pulse width modulation), motor, load; the feedback channel of the velocity loop includes a rate gyroscope and a position differential link of a MEMS inclination angle tester. The forward channel of the position loop comprises a tracker, a position controller, a speed controller, PWM, a motor and a load integration link, and the feedback channel of the position loop comprises an integration link of a rate gyroscope and an MEMS inclination angle tester.
The closed-loop control of the speed ring is realized by position differential signals of a rate gyro and an MEMS inclination angle tester; the specific process comprises the following steps: and measuring and outputting a horizontal angle under the current geographic coordinate system by the MEMS inclination angle tester, and setting an expected position of closed-loop control. And the tracker tests to obtain real-time position information of the horizontal stable platform as input information of the position controller. The angular position information of the position controller is differentiated as an input to the speed controller. The speed signal of the speed controller is subjected to PMW processing as the output of the motor, and the speed of the load (namely the horizontal stable platform) is controlled by the motor.
The closed-loop control of the position loop is realized by rate gyro integral and position signals of the MEMS inclination angle tester; the specific process comprises the following steps: and the MEMS inclination angle tester detects the position of the current horizontal stable platform and performs integration to obtain the current speed of the horizontal stable platform, and the current speed of the horizontal stable platform detected by the fiber-optic gyroscope as a rate gyroscope are fed back to the speed controller as feedback signals of the speed loop, so that the speed control of the horizontal stable platform is realized. The speed information of the speed ring is integrated to obtain the position information of the horizontal stable platform, the MEMS inclination angle tester detects the position information of the current horizontal stable platform and the position change information obtained by integrating the fiber-optic gyroscope as a rate gyroscope, and the position change information is used as a feedback signal of the position ring and fed back to the tracker, so that the position control of the horizontal stable platform is realized.
In order to improve the control precision of the position, the invention carries out limit value and noise model establishment and kalman filtering processing on the angle information of the MEMS inclination angle tester.
The Kalman filtering process of the angle information noise of the MEMS inclination tester is as follows. Suppose XkFor the filtered position signal at time t, Xk-1For the position signal filtered at time t-1, Xk,k-1For the filtered position estimate, P, from time t-1 to time tkFor the time t position signal error covariance, Pk-1For the covariance of the position signal error at time t-1, Pk,k-1Is the covariance of the error of the position at time t-1 and time t, ZkFor actual angular output, KkAnalyzing an angle signal noise variance matrix Q of the MEMS inclination tester for gain coefficients of the Kalman filterkNot being defined, RkAnd (4) positive determination. By the algorithm, closed-loop control signals in a speed ring and a position ring in the horizontal stable platform are filtered and subjected to truth seeking, and based on the method, the control precision of the horizontal stable platform can be improved, so that the high-precision horizontal stable platform is realized.
Kk＝Pk,k-1[Pk,k-1+Rk]-1
Pk,k-1＝Pk-1
It should be emphasized that the examples described herein are illustrative and not restrictive, and thus the present invention includes, but is not limited to, those examples described in this detailed description, as well as other embodiments that can be derived from the teachings of the present invention by those skilled in the art and that are within the scope of the present invention.
Claims (6)
1. A control method for a water stable fixed platform for an ocean gravimeter comprises the steps that the water stable fixed platform for the ocean gravimeter comprises a platform body, a pitching frame, a swaying frame and a carrier platform; the method is characterized in that: a transverse rocking frame is vertically and fixedly arranged on the table body, a carrier platform is vertically and fixedly arranged on the table body on the front side of the transverse rocking frame, the carrier platform is of a plate-shaped structure, the end surfaces of the upper side and the lower side of the carrier platform respectively extend backwards to form a pitching frame integrally formed with the carrier platform, and the carrier platform is fixedly arranged between the upper frame and the lower frame of the transverse rocking frame through the pitching frame; the front end face of the carrier platform is provided with a plurality of vertical grooves perpendicular to the platform body, two optical fiber gyroscopes and a single MEMS inclination angle tester are respectively arranged in two adjacent vertical grooves, the optical fiber gyroscopes and the MEMS inclination angle testers are positioned at the geometric center of the carrier platform, the output shaft of one optical fiber gyroscope is parallel to the rolling frame, and the output shaft of the other optical fiber gyroscope is parallel to the pitching frame;
the control method comprises the following steps:
step 1, realizing the speed control of a horizontal stable platform by controlling a speed ring: the forward channel of the speed ring comprises a speed controller, a PMW, a motor and a load; the feedback channel of the speed loop comprises a rate gyroscope and a position differential link of an MEMS inclination angle tester;
step 2, realizing the position control of the horizontal stable platform by controlling the position ring: the forward channel of the position loop comprises a tracker, a position controller, a speed controller, PWM, a motor and a load integration link, and the feedback channel of the position loop comprises an integration link of a rate gyroscope and an MEMS inclination angle tester;
the specific steps of the step 1 comprise:
(1) differentiating the angular position information of the position controller as an input of the speed controller;
(2) the speed signal of the speed controller is subjected to PMW processing to be used as the output of the motor, and the speed of the load is controlled by the motor;
(3) the MEMS inclination angle tester detects the position of the current horizontal stable platform and differentiates the position to obtain the current angular velocity information of the stable platform, and then the current angular velocity information of the horizontal stable platform and the current velocity information of the horizontal stable platform detected by the fiber optic gyroscope as a rate gyroscope are fed back to the velocity controller as the feedback signal of the velocity loop after being subjected to limit value and Kalman filtering processing, so that the velocity control of the horizontal stable platform is realized.
2. The method for controlling the water stabilizing platform for the marine gravimeter according to claim 1, wherein: the specific method for obtaining the current angular velocity information of the horizontal stable platform by differentiating the position of the current horizontal stable platform detected by the MEMS inclination angle tester in the step (3) in the step 1 comprises the following steps: measuring a horizontal angle under a current geographic coordinate system by an MEMS inclination angle tester, setting the horizontal angle as an expected position of closed-loop control, and outputting the expected position to a tracker; the tracker outputs real-time position information of the horizontal stable platform obtained by testing to the position controller; the position controller differentiates the angular position information of the position controller and outputs the angular position information to the speed controller; and then the speed signal of the speed controller is output to the motor after being PMW processed, and the angular speed of the load is controlled by the motor.
3. The method for controlling the water stabilizing platform for the marine gravimeter according to claim 1, wherein: the method for limiting and Kalman filtering the current angular velocity information of the horizontal stable platform and the current velocity information of the horizontal stable platform detected by the fiber optic gyroscope as the rate gyroscope in the step (3) of the step 1 comprises the following steps: suppose that
For the filtered position signal at time t,
for the filtered position signal at time t-1,
for the filtered position estimate, P, from time t-1 to time tkFor the time t position signal error covariance, Pk-1For the covariance of the position signal error at time t-1, Pk,k-1Is the covariance of the error of the position at time t-1 and time t, ZkFor actual angular deliveryOutput, KkFor the gain coefficient of Kalman filter, the variance matrix of the angle signal noise of MEMS inclination tester is not positive, RkPositive determination, then:
Kk＝Pk,k-1[Pk,k-1+Rk]-1
Pk,k-1＝Pk-1
4. the method for controlling the water stabilizing platform for the marine gravimeter according to claim 1, wherein: the specific steps of the step 2 comprise:
(1) setting a horizontal angle under the current geographic coordinate system according to the MEMS inclination angle tester as an expected position of closed-loop control;
(2) real-time position information of the horizontal stable platform is obtained through the test of the tracker and is used as input information of the position controller;
(3) the input information is integrated through a forward channel of the speed ring to obtain the position information of the real-time horizontal stable platform;
(4) the MEMS inclination angle tester detects the position information of the current horizontal stable platform and the position information obtained by integrating the fiber optic gyroscope as a rate gyroscope, and the position information is fed back to the tracker as a feedback signal of a position loop after being processed by limit value and Kalman filtering, so that the position control of the horizontal stable platform is realized.
5. The method for controlling the water stabilizing platform for the marine gravimeter according to claim 4, wherein: the specific method in the step (3) of the step 2 comprises the following steps:
and integrating the position of the current horizontal stable platform detected by the MEMS inclination angle tester to obtain the current speed of the horizontal stable platform, outputting the current speed of the horizontal stable platform and the current speed of the horizontal stable platform detected by the fiber optic gyroscope as a rate gyroscope as feedback signals of a speed loop to a speed controller to realize speed control of the horizontal stable platform, and integrating the speed information of the speed loop to obtain the position information of the horizontal stable platform.
6. The method for controlling the water stabilizing platform for the marine gravimeter according to claim 4, wherein: the method for processing the position information of the current horizontal stable platform detected by the MEMS inclination angle tester and the position information obtained by integrating the fiber optic gyroscope as the rate gyroscope in the step (4) of the step 2 through limit value and Kalman filtering comprises the following steps: suppose that
For the filtered position signal at time t,
for the filtered position signal at time t-1,
for the filtered position estimate, P, from time t-1 to time tkFor the time t position signal error covariance, Pk-1For the covariance of the position signal error at time t-1, Pk,k-1Is the covariance of the error of the position at time t-1 and time t, ZkFor actual angular output, KkFor the gain coefficient of Kalman filter, the variance matrix of the angle signal noise of MEMS inclination tester is not positive, RkPositive determination;
then there are:
Kk＝Pk,k-1[Pk,k-1+Rk]-1
Pk,k-1＝Pk-1
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| CN102508502B (en) * | 2011-11-01 | 2014-05-07 | 中国科学院光电技术研究所 | Azimuth control system and method for suspension platform system |
| CN103335651B (en) * | 2013-06-19 | 2016-01-20 | 北京航空航天大学 | A kind of aerial remote sensing inertial-stabilized platform dual rate-loop control method |
| CN103425146B (en) * | 2013-08-01 | 2016-01-20 | 北京航空航天大学 | A kind of inertially stabilized platform interference observer method for designing based on angular acceleration |
| US10330820B2 (en) * | 2014-08-07 | 2019-06-25 | Lockheed Martin Corporation | System and method for gravimetry without use of an inertial reference |
| CN104216024B (en) * | 2014-09-29 | 2017-01-18 | 中国科学院测量与地球物理研究所 | Active damping positioning device for dynamic gravity meter |
| CN106896820B (en) * | 2017-02-27 | 2020-05-29 | 北京星网卫通科技开发有限公司 | Inertially stabilized platform |
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2018
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