Key Techniques Of Triaxial Gyro Stabilized Tracking Platform

Stable tracking platform have a wide range of applications because of its isolation carrier random oscillation and exercise in communication, guidance, fire control, etc. With the development of the computer, Strap-down inertial navigation as a type of inertial navigation gets more and more attention. This thesis through joint the two technologies put forward the three axis stable tracking platform based on strap-down inertial navigation, which main application in ship-borne wireless laser satellite communication systems, the main guarantee the stability of laser antenna view axis, and complete system of rough track.This thesis mainly researches and analysis the three axis stabilized tracking basic principles based on space coordinate system theory, and also analysis the solution of posture, position, velocity of strap-down inertial navigation, and simulated the system error, the nonlinear wavelet threshold real-time noise reduction are put forward to real-time signal noise reduction, through the real-time simulation was obtained from the noise control effect and good for gyro random signal drift of the Angle inhibition. Based on this, advances in TMS320C6713as the core of the embedded hardware platform of signal noise reduction and inertial navigation calculation and space coordinate conversion.Firstly, this thesis researches the development situation of stable tracking platform in domestic and foreign, and this paper’s re background. Three shaft stability to the basic principle of tracking the related research. The main components of the system are chosen, such as gyroscopes, accelerometers.Secondly, in this thesis, the wavelet transformation theory were briefly reviewed in this paper, on the basis of the noise reduction based on wavelet transform method are compared, the selection of the nonlinear wavelet threshold noise reduction method and the accelerometer to gyro signal real-time signal noise reduction, mainly research the theory of the algorithm and real-time simulation.Thirdly, this thesis researches the basic principle of the strap-down inertial navigation,mainly introduces the solution of the strap-down inertial navigation type posture, location and speed the solution, the solution of several attitude algorithm are analyzed. Using the quaternion’s method simulates the system error.Finally, this thesis researches the embedded hardware platform based on DSP-FPGA, mainly introduced the basic framework of hardware platform, and gives the smallest system, ADC control and data collection and A/D conversion module.