CN109931920A - Instantaneous angular perception and measurement method based on moving state identification - Google Patents
Instantaneous angular perception and measurement method based on moving state identification Download PDFInfo
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Abstract
The present invention provides a kind of instantaneous angular perception and measurement method based on moving state identification, overcomes inexpensive device existing drifting problem when measuring for a long time.It include: to determine angular velocity signal detection threshold value in conjunction with rotational-angular velocity of the earth and angular rate compensation Step 1: test using high precision turntable gyro；Step 2: obtaining the component of rotational-angular velocity of the earth component each axis under platform current pose using the static measurement data of system short period；Step 3: judging whether platform generates instantaneous adjustment process according to the detection threshold value that step 1 determines, and determine whether the adjustment process is that impact vibration generates, obtains the angular velocity measurement value and regulating time of effective adjustment process；Step 4: the angular velocity measurement value and regulating time of effective adjustment process that the rotational-angular velocity of the earth component obtained according to step 2 the component of each axis and step 3 under platform current pose obtain, resolve angle variable quantity in platform adjustment process.
Description
Technical field
The invention belongs to field of inertia technology, the instantaneous angular perception that the present invention relates to a kind of based on moving state identification with
Measurement method.
Background technique
Sensor of the gyroscope as a kind of common measurement carrier angular speed and angle, acts not only as indicator
Table, and can be used as a sensing element in automatic control system, it is obtained in the causes such as marine navigation, Aeronautics and Astronautics
It is widely applied.The signals such as accurate orientation, level, position, velocity and acceleration are provided, as needed so as to driver or use
Preset device come control the sail bodies such as aircraft, naval vessel or space shuttle by certain course line, rule fly, and in guided missile, defend
In the guidance of the sail bodies such as star vehicle or space exploration rocket, then the gesture stability of sail body is directly completed using these signals
And orbits controlling, in-orbit train, ocean-going ship traveling process in, the fluid resistance in traveling process can be reduced, can make to pacify
Camera on aircraft or satellite is stable etc. with respect to ground.Meanwhile as fine measuring instrument, gyroscopic instrument can be
The accurate azimuth reference of the offers such as ground installation, mining tunnel, subterranean railway, oil drilling and launching silo.Thus may be used
See, the application range of gyroscopic instrument is quite widely, to account in the national defense construction and the development of the national economy of modernization important
Status.
Under the short time effect such as external world's shock, vibration, small-scale variation will occur platform for height, azimuth etc.,
And in this change procedure, influenced along with biggish impact with vibration.Shock and vibration cause platform to generate certain put down
Addendum modification is moved and rotated, so that platform deviation initially sets value, directly affects the precision of the 2nd shooting.To improve platform
Fire accuracy, it is necessary to which quick, high-precision detection is carried out to platform translation and rotational angle.
For the high-precision automatic measuring of deviation angle after Platform Vibration, need to recognize the instant action of platform,
Whether occurred with real-time judge impact vibration.Chinese invention patent (the patent No.: 200810145895.2) hand-written defeated for computer
Enter identification, proposes a kind of instant action identifying method based on inertial measuring unit.This method is directly captured about inertia sense
Angular velocity signal caused by device action is surveyed, and it is compared with a certain threshold value, if the angular velocity signal is more than threshold value,
Then judge that inertial sensor device is in action state.It can be seen that this method due to the object being directed to do not need very high-precision, because
This do not account for inertial sensor noise may cause measuring signal more than threshold value and cause to malfunction, do not provide movement and start
With the quantizating index of end.
Angle test method includes two transits method after existing Platform Vibration, to look for Time Method, CCD camera method etc. specific
Say no solution.Two transits method is aimed on platform outer wall by setting up two micrometer instruments in the side of platform
Two reference marks, former and later two angles of reference mark point relative to theodolite of measuring table impact vibration are come true with this
The deviation of fixed platform angle.The precision of this method is higher, but the shock wave that the big impact vibration of platform generates will lead to theodolite
It deviates, needs to readjust, extend the testing time, and offset can also introduce large error (Dong Qishun, Jiang Tao, Su Chengzhi
The optimal disposition of theodolite studies war industry's journal, 2007,28 (5): 513-515 in the test of cannon duplicate-aim precision).In addition, two
The cost is relatively high for theodolite, needs additional staffing, and the degree of automation is low.
Gun sight method aims at target plate by setting up at a certain distance from the front of platform, utilizes the aiming in gun sight
" cross hairs " aims at " double check with a core " on target plate.Respectively before and after platform impact vibration, gun sight " cross hairs " and target plate are read
Deviation calculate the angle variable quantity of platform height and orientation and according to the distance of target plate opposed platforms rotation center.
This method measuring speed is fast, and required time is short, but the position of gun sight and platform can generate translation during platform impact vibration,
Influence the measurement accuracy of angle.In addition, the precision of gun sight graduation is limited, and the collimation error of people also influences whether test
Precision.
CCD camera method is substantially similar with gun sight method, by installing reseting precision and high resolution on platform
CCD electro-optical system, and groove is being indicated all with the positive negative direction that aiming " cross hairs " is coordinate system.It is certain in the front of platform
Set up at distance and aim at target plate, video camera " cross hairs " is directed at target plate " double check with a core " before impact vibration, after taken aim at again
It is quasi-.By estimating the deviation read between impact vibration front and back " cross hairs " and " double check with a core ", by data processing, available orientation
And height to deviation (Zhang Xinjiang, Wang Dong, the automatic duplicate-aim precision test method ordnance of fire control of the Li Weifeng based on CCD technology
Engineering college's journal, 2010,22 (2): 53-55).This method measuring accuracy is high, speed is fast, but operation is more demanding, and cannot
Influence of the processing translation to measurement accuracy.
Chinese invention patent (patent No.: 200810074572.9) proposes a kind of side for realizing based on accelerometer and taking aim at again
Method, by quadratic integral, obtains generating during platform shakes inclined by the designated position installation accelerometer on platform
Difference.This method can realize the measurement of degree of precision at lower cost, but can only measure the translational movement of platform, be unable to get and turn
Dynamic angle.United States Patent (USP) (patent No.: 5902968) disclose it is a kind of combined using accelerometer with gyro signal detection it is dynamic
Make recognition methods.This method pre-processes accelerometer with gyro signal by high-pass filter, if pretreated letter
Number be greater than 10Hz, then it is assumed that movement occur.This method is of less demanding to the measurement accuracy of angle value, and only simple judgement movement is
No generation, and need to decompose the frequency spectrum of signal, calculation amount is relatively large.
Summary of the invention
The present invention provides a kind of instantaneous angular perception and measurement method based on moving state identification, overcomes inexpensive device
Existing drifting problem when measuring for a long time, by whether being changed using gyro signal real-time identification mounting platform angle,
And measurement data only is recorded within the changes phase short period, the influence drifted about when overcoming long, so as to during low precision
The detection method of precise measurement platform angle variable quantity in short-term.
The invention is realized by the following technical scheme.
A kind of instantaneous angular perception and measurement method based on moving state identification, comprising:
Step 1: gyro is tested using high precision turntable, it is true in conjunction with rotational-angular velocity of the earth and angular rate compensation
Fixed angular speed signal detection threshold；
Step 2: obtaining rotational-angular velocity of the earth component using the static measurement data of system short period and working as in platform
The component of each axis under preceding posture；
Step 3: judging whether platform generates instantaneous adjustment process, and determine according to the detection threshold value that step 1 determines
Whether the adjustment process is that impact vibration generates, and obtains the angular velocity measurement value and regulating time of effective adjustment process；
Step 4: the rotational-angular velocity of the earth component obtained according to step 2 under platform current pose the component of each axis and
The angular velocity measurement value and regulating time for effective adjustment process that step 3 obtains resolve angle change in platform adjustment process
Amount.
Further, the threshold value of the determining angular velocity signal detection is in the following ways: first in high precision turntable
Gyro is tested, Gyro Random noise characteristic is obtained；Then the Gyro Random noise characteristic and earth rotation angle are utilized
Speed determines signal detection threshold.
Further, determine that detection threshold value further includes compensating to rotational-angular velocity of the earth deal in the step 1,
It is described to compensate in the following ways:
(1) angle compensation amount and flag bit are initialized；
(2) each axis of acquisition platform corresponds to the output signal of gyro；
(3) in a static condition, the gyro output data of acquisition is then stored in caching by the primary sampling of every progress, and is recorded
Sample total N0；
(4) the sample total N0 of record is carried out judging whether it is greater than preset number of samples N, is to terminate to adopt
Sample.
Further, the N is set as 10 seconds total number measureds according to amount.
The present invention has the advantage that relative to technology before
(1) whether the present invention occurs transient change, and accurate survey using gyro to measure signal real-time identification platform angle
The detection method of measuring angle variable quantity, while gyro static noise amplitude being combined with rotational-angular velocity of the earth, as determination
The constraint of signal detection threshold improves the accuracy of the setting of detection threshold value, utilizes the test data of platform gyro when static
Influence of the rotational-angular velocity of the earth to angle-measurement accuracy is compensated, and records angular rate compensation amount.The inventive method is for instantaneous
The measurement accuracy of angle is enhanced.
(2) since shock and vibration cause platform to generate certain translation and rotation addendum modification, so that platform deviates
Value initially is set, directly affects the 2nd precision used.Compared to traditional detection method, this method is perceived by angle and is realized
The quick detection of platform translation and rotational angle.
Detailed description of the invention
Fig. 1 is instantaneous angular accurate measurement method flow diagram of the invention；
Fig. 2 is angular velocity detection Threshold flow diagram of the invention；
Fig. 3 is rotational-angular velocity of the earth compensation method flow diagram of the present invention；
Fig. 4 is platform just to gyro dwell angle velocity output signal schematic diagram；
Fig. 5 is snap action discrimination method flow diagram of the invention；
Fig. 6 is that platform angle of the invention resolves flow diagram.
Specific embodiment
The present invention will be described in detail with specific example with reference to the accompanying drawing, but not as a limitation of the invention.
Fig. 1 is flow diagram of the present invention.In the present embodiment, the present invention includes following components:
1, gyro is tested using high precision turntable, and combines rotational-angular velocity of the earth, determine that angular velocity signal is examined
The threshold value of survey；
2, using the static measurement data of system short period, rotational-angular velocity of the earth component is obtained in platform current pose
Under each axis component, so that the subsequent estimated value to angle compensates, improve estimation angle measurement precision；
3, in conjunction with 1 given detection threshold value, judge whether platform generates instantaneous adjustment process, and can determine that the adjusting
Whether journey is that impact vibration generates, and avoids maloperation caused by environmental disturbances, the angular speed for furthermore recording effective adjustment process is surveyed
Magnitude and regulating time；
4, the adjustment process magnitude of angular velocity and regulating time recorded in the spin velocity compensation component and 3 in combination 2, solution
Calculate angle variable quantity in platform adjustment process.
The process of each section and step are described in detail below.
Fig. 2 is angular velocity detection Threshold flow diagram.It judges platform impact vibration using gyro signal
It is dynamic whether to occur and terminate.By gyro installation on platform, when platform is static, gyro to measure value is rotational-angular velocity of the earth
Component.In addition, the output signal of gyro both includes random noise, also it is easy to be disturbed and generate by a relatively large margin by external environment
Deviation.Before actual use, by largely being tested gyro, the characteristic of Gyro Random noise can be obtained, is set based on this
Fixed a certain threshold value.The real-time testing data of gyro are compared with the threshold value of the setting, if the at a time measurement of gyro
Value is more than the threshold value of setting, then continues data statistics, until threshold value of the measured value of gyro lower than setting.But due to the external world
Interference may also lead to the threshold value that gyro to measure value is more than setting, so as to cause erroneous judgement.Therefore, a data statistics is being done
When, need to record period of the measured value more than given threshold and when measured value is lower than continuing one section of statistics after given threshold
Between.Since the time duration of interference is shorter than the regulating time of platform normal impact vibration processes, the difference of the two is utilized
To judge whether adjustment process is that the vibration of platform normal impact generates.In addition, platform normal impact vibration after adjustment process in
As vibrating and gyro to measure value being made to be less than threshold value, but the period is shorter, need in measured value lower than given threshold
The statistics of Shi Jixu for a period of time terminates the time to provide exact adjusting.
In the present embodiment, gyro is tested using high precision turntable, obtains the random noise characteristic of gyro.And root
According to the influence of rotational-angular velocity of the earth in actual use, it is finally determined as the signal detection threshold of snap action identification.At this
In embodiment, the gyro for measurement is the STIM202 type high-precision MEMS gyro of Norway Sensonor company production, is
Three axis digital outputs, measurement range be 0~± 400 °/s, sample rate 1000Hz, i.e. 1000 measured values of output per second.Packet
Include following steps:
S11 tests gyro in high precision turntable, obtains the random noise characteristic of gyro.By STIM202 type
MEMS gyro is placed in three axis high precision turntables, measures short time (less than the 10 minutes) output of three axis (X, Y, Z) respectively,
Count the amplitude A of random noise.
S12 determines signal detection threshold using the Gyro Random noise characteristic and rotational-angular velocity of the earth that measure.In short-term
Between engineer application in, the random noise of gyro is kept essentially constant, the amplitude A counted can be used as threshold value setting
A constraint condition.Further, since under static conditions, gyro it is sensitive be the earth spin velocity component, absolute value
Less than 0.00417 °/s of rotational-angular velocity of the earth.Therefore, ± (0.00417+A) °/s can be set a threshold to.
Fig. 3 is that rotational-angular velocity of the earth of the invention compensates flow diagram.The present invention provides a kind of earth rotation angle speed
The compensation method of degree, using the test data compensation rotational-angular velocity of the earth of platform gyro when static to angle-measurement accuracy
It influences.Gyro to measure value embody be its relative inertness space movement, platform normal impact vibration after adjustment process in, top
Spiral shell measured value had both included movement of the platform with respect to ground initial position, also included the movement in platform relative inertness space.People are closed
The value of the heart is substantially the movement of platform relative initial position, in approximate geocentrical inertial coodinate system, Ke Yitong
Cross angle variable quantity of the measuring table with respect to the earth, and then the error that compensating platform relative inertness spatial movement introduces.Due to flat
The platform most of the time all in stationary state, can then calculate rotational-angular velocity of the earth using the output data of gyro at this time and exist
Component under the conditions of platform current location and posture.Deviation angle is compensated using the component, to improve measurement accuracy.
In the present embodiment, the purpose is to compensate rotational-angular velocity of the earth pair using the test data of platform gyro when static
The influence of angle-measurement accuracy, and record angular rate compensation amount.The following steps are included:
S21 initializes angle compensation amount BH and flag bit N0.In the present embodiment, BH indicates that platform height is mended to angular speed
The amount of repaying.Booting powers on rear gyro and starts output data, and by fixed preheating time, gyro exports valid data, enters at this time
Compensate process.Output signal approximation when showing by largely testing due to gyro static state meets white noise character, and about 10 seconds
The result of clock test can more accurately obtain the component of platform rotational-angular velocity of the earth in a static condition.And flag bit N0
Exactly it is used to measure the number of sampled point, i.e. time；BH is used to store the angle compensation amount after clearing.
S22 is used to the output signal that each axis of acquisition platform corresponds to gyro.By the gyro sample rate used in this present embodiment
For 1000Hz, then following treatment process is required to complete in 1 millisecond.
S23 is indicated in a static condition, every once to be sampled, then the gyro output data of acquisition is stored in caching,
In case following compensation rate resolves；In addition, sample total N0 need to be added up.
S24 judges the sample size N0 of record, according to a large amount of test results, it is known that 10 seconds test datas can
More accurately to resolve compensation rate.It can be obtained by sample rate, if N0 is no more than 10000, return S22 be needed to continue to sample；If N0 reaches
To 10000, then it can stop the sampling of compensation, be transferred to S25 and compensation rate is resolved, i.e., the data of S23 storage be carried out flat
, and by the result of resolving compensation variable BH, while clear flag position N0 are stored in.
Fig. 4 is platform height in certain position gyro output data.The time of test be 10 seconds, it can be seen that gyro it is defeated
Data include a large amount of random noise out, and peak-to-peak value is about 0.0016 °/s.The true value of rotational-angular velocity of the earth is about at this time
0.0026°/s.It is resolved according to the data of test, obtains BH=0.002597 °/s, very close with true value, error is only
For 0.000003 °/s.Since the time of platform Dynamic Regulating Process is usually no more than 15 seconds, through overcompensation relief angle degree resolution error
For (0.0026 °/s-BH) × 15 seconds=0.000045 °, the precision of system is had substantially no effect on.If do not compensated,
Angle resolution error is 0.0026 °/s × 15 second=0.039 °, then the error thus introduced will account for inciting somebody to action for system allowable error
Nearly half.
Fig. 5 is the accurate discrimination method flow diagram of snap action of the invention.In the present embodiment, snap action essence
The purpose of true discrimination method, which is to recognize, has whether the platform of gyro generates impact vibration, and operation of recording starting is at the end of
Between the magnitude of angular velocity of gyro sensitivity is resolved as angle in section foundation.This method 3 the following steps are included:
S31 is the initialization of mark amount, and wherein N1 is indicated during Primary regulation, and gyro to measure value is more than set threshold value
The number of sampled point；After N2 indicates that the secondary adjustment process starts, gyro to measure value is less than the number of set threshold value sampled point.
S32 indicates to capture the measuring signal that each rotational orientation of platform corresponds to gyroaxis.The MEMS gyro used in this example
It, then can be with the rotational angle in three orientation of measuring table for three axis.In addition, the sample rate for using gyro is 1000Hz, therefore every
Corresponding 1000 samples of second every axis.In actual application, one sample of every acquisition just carries out single treatment, after the completion of processing
Sampling next time is carried out again.Therefore, each treatment process time requires less than 1 millisecond.
The sample of acquisition is compared by S33 expression with the threshold value of setting, if it is more than set threshold value, is transferred to
S34, that is, record the angular velocity signal of gyro output at this time, and flag bit N1 is added 1；If the secondary measured value is in set threshold range
It is interior, then it is transferred to S35, i.e., whether comprises more than the amount of set threshold value by the measured value before the value judgement of flag bit N1.If
N1 is not more than 0, i.e., does not occur more than the amount of set threshold value, adjustment process do not occur, then return to S32 and continue to sample, carry out
Processing next time；If N1 is greater than 0, i.e. adjustment process starts, then is transferred to S36.Due to according to S33, into the process flow
Data be no more than the sampled value of set threshold value, therefore sample size N2 at this time is counted by S36, then may determine that tune
Whether section process terminates.
S37 is after starting to the Primary regulation process of S36 statistics, and the sample number N2 for being less than set threshold value is differentiated.
Due in adjustment process, in addition to because oscillation causes other each axis angular rate measured value of platform to be likely less than set threshold value,
Its most time measured value is all larger than set threshold value, therefore all in all, what the statistical value N2 of S36 embodied is that each axis is in
Amount when static.A large amount of experiment test shows Primary regulation in the process if there is the measured value for reaching 1 second is respectively less than set
Threshold value, then the secondary adjustment process terminates, that is, corresponding to N2 is more than 1000.So as to judge whether certain this adjustment process is tied by S37
Beam, if N2≤1000, which is not completed, and need to be returned to S32 and be sampled；If N2 > 1000, the tune
Section process terminates, and is transferred to S38.
In this example in view of external disturbance may make gyro to measure value be more than set threshold value, a large amount of tests show
Its duration is usually less than 2.5 seconds, and corresponding number of sampling points is less than 2500.By S38, if in certain adjustment process of statistics
N1≤2500, then it is assumed that the secondary adjustment process is to be caused by interference, and the normal impact of no platform is vibrated and adjusted, and is transferred at this time
S39 removes all data recorded in the secondary adjustment process, and flag bit N1, N2 is set 0, returns S32 continuation and adopts next time
Sample and processing；If N1 > 2500, then it is assumed that the secondary adjustment process is effective, is transferred to S310 at this time, the gyro output angle that S34 is recorded
Speed signal, flag bit N1 and N2 are put into memory, in case subsequent angle resolves, are then transferred to S311 again, remove in caching
Flag bit N1 and N2 are set 0 by the amount of record, are returned S32 and are continued to sample and handle next time.
Fig. 6 is Platform set angle measurement method of the invention.In the present embodiment, the purpose is to utilize the effective of record
Adjustment process angular velocity information, regulating time length and compensation rate, resolving obtain angle offset caused by platform impact vibration.
By height to for corner, this method 4 is comprised the following steps:
S41 obtains angle initial estimate A0 according to magnitude of angular velocity and regulating time in the adjustment process of record, integral.
In the present embodiment, the output of gyro is discrete signal, then the resolving of angle is obtained by numerical integration.Such as the tune in Fig. 6
Section process, platform continued 4031 sample points until 48.865 seconds terminate into effective adjustment process altogether since 44.835 seconds,
It is denoted as N=4031.According to the process of Fig. 6, this 4031 magnitude of angular velocities will be stored in S310, are denoted as 1 × 4031 dimension
Array S.Since the sample rate of gyro is 1000Hz, then in numerical integration, the corresponding time span of each sample point is
0.001 second, thus angular speed initial estimate A0 are as follows:
S42 obtains offset angle A1 according to the compensation rate BH and regulating time N resolved in Fig. 3, integral.In the present embodiment
In, BH=0.002597 ° of angular rate compensation amount/s of resolving, the effective sample length N=4031 of adjustment process.Doing numerical value product
Timesharing, the corresponding time span of each sample point are 0.001 second, then angle compensation amount A1 are as follows:
A1=0.001 × BH × N (2)
S43 obtains real angle A2=A0-A1 according to preliminary examination resolve angles A0 and compensation rate A1.In the present embodiment, A0
=-68.126 °, A1=0.0105 °, then there are A2=-68.126 ° -0.0105 °=- 68.1365 ° of real angle valuation.To test
The validity of this method is demonstrate,proved, turntable test result is as standard with high precision, and value is -68.1693 °, difference between the two
It is 0.0328 °, meets the required precision of system.
S44 shown the result A2 of resolving on the embedded type interface of platform, to facilitate operation.
Claims (4)
1. a kind of instantaneous angular perception and measurement method based on moving state identification characterized by comprising
Step 1: testing using high precision turntable gyro, angle is determined in conjunction with rotational-angular velocity of the earth and angular rate compensation
Speed signal detection threshold value；
Step 2: obtaining rotational-angular velocity of the earth component in the current appearance of platform using the static measurement data of system short period
The component of each axis under state；
Step 3: judging that platform generates instantaneous adjustment process according to the detection threshold value that step 1 determines, and the adjustment process is
Impact vibration generates, to obtain the angular velocity measurement value and regulating time of effective adjustment process；
Step 4: the component and step of the rotational-angular velocity of the earth component obtained according to step 2 each axis under platform current pose
The angular velocity measurement value and regulating time of three obtained effective adjustment processes resolve angle variable quantity in platform adjustment process.
2. the method as described in claim 1, which is characterized in that the threshold value of the determining angular velocity signal detection is used with lower section
Formula: first testing gyro in high precision turntable, obtains Gyro Random noise characteristic；Then the Gyro Random is utilized
Noise characteristic and rotational-angular velocity of the earth, determine signal detection threshold.
3. method according to claim 1 or 2, which is characterized in that determine that detection threshold value further includes over the ground in the step 1
Revolutions angular speed deal compensates, described to compensate in the following ways:
(1) angle compensation amount and flag bit are initialized；
(2) each axis of acquisition platform corresponds to the output signal of gyro；
(3) in a static condition, the gyro output data of acquisition is then stored in caching by the primary sampling of every progress, and records sample
Total amount N0；
(4) the sample total N0 of record is carried out judging whether it is greater than preset number of samples N, is to terminate to sample.
4. method as claimed in claim 3, which is characterized in that the N is set as 10 seconds total number measureds according to amount.
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