Research On Attitude Measurement Method Of Two Axis Parallel Stable Platform

The stable platform is a kind of servo platform mounted on the moving carrier.The attitude change of the moving carrier will cause the equipment on the platform to follow.The stable platform can obtain the attitude information of the moving carrier through the attitude measurement system,drive the platform to rotate for attitude compensation,and realize the isolation of the disturbance of the moving carrier.Stable platform is an important tool to ensure the stability of equipment on the platform.It is widely used in weapon aiming,surgical treatment,UAV camera,radar detection and other aspects.With the development of stable platform technology,its application in the field of ocean and aviation is more and more extensive.In the stable platform,the attitude measurement is the precondition to realize the platform stability.How to measure the attitude of the moving carrier accurately and in real time is the two major difficulties in the research.In this paper,the two-axis parallel stable platform loaded on the underwater moving carrier is the main body of the research.Aiming at the two major difficulties of the real-time and accuracy of the attitude measurement,the attitude measurement method is studied.The main work is as follows:(1)In the application background,the motion characteristics of the carrier and the attitude compensation characteristics of the stable platform are analyzed,and the coupling relationship of the parallel structure is explained.According to the selected sensor elements and signal acquisition devices,the attitude information acquisition system is built,which is built on the stable platform,and then the signal acquisition program is written with software.According to the measurement principle of the sensor,the needs are analyzed In order to verify the effectiveness of the proposed attitude measurement algorithm,a control group experiment system is set up to verify.(2)The attitude measurement method based on lifting wavelet complementary is constructed.Firstly,the dynamic and static output signals of the fiber optic gyroscope are analyzed by empirical mode decomposition and de trend wave analysis.The good dynamic characteristics of the fiber optic gyroscope are verified,and the noise signal characteristics of the gyroscope are obtained.In order to get more accurate attitude information,the wavelet threshold de-noising algorithm is used to filter the output signals of the fiber optic gyroscope,and the difference is compared In order to get more accurate angle information,an information complementary algorithm is constructed to get accurate attitude information.(3)The attitude measurement method based on Kalman filter is constructed.In order to obtain the real-time attitude information of the carrier,the signal processing of the fog is carried out by Kalman filtering algorithm.Firstly,the stability,normality and independence of the output signal of the fog are detected.According to the detection results,the output signal of the fog is preprocessed,and the ARMA model is established.According to the model,the classical Kalman filtering algorithm is constructed In addition,extended Kalman filter is used to denoise the signal of fiber optic gyroscope.Through comparative analysis,it is found that the extended Kalman filter has better signal processing results.Therefore,the extended Kalman algorithm is selected to build the information complementary algorithm,and a better attitude measurement method with better real-time performance is obtained.In this study,the velocity and position information of the stabilized platform are collected through the design experiment,and the extended Kalman and lifting wavelet are used to realize the accurate and real-time attitude measurement of the stabilized platform,which provides a feasible method for the attitude measurement of the stabilized platform.