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光电转台复合精密角度测量理论 被引量:1

Research on Combined Precision Angle Measurement Theory of Optical Rotation Platform
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摘要 针对传统编码器测角系统分辨率低、量化噪音大和测速误差高等缺点,提出一种基于光纤陀螺和编码器的融合测角算法.首先,在一个滑动窗口利用编码器角度值和光纤陀螺速率积分值的差值信号,通过最小二乘法实时地估计出光纤陀螺的速率漂移;其次,使用补偿后的角速度信号和编码器角度信号,通过一定融合算法进行角度估计;最后,对所提算法进行数学仿真和实验验证.仿真和实验结果显示:测角准确度的仿真值和实验值分别由1.2″和1.1″提高到0.17″和0.76″,角速度测量准确度的实验值从0.002°·s-1提高到0.001°·s-1,在避免光纤陀螺角速度漂移问题的同时有效提高了系统的角度和角速度测量准确度. As the conventional angular measuring system which uses rotary encoders has the shortcomings of low resolution,large quantization noise and low angular velocity accuracy,a sensor fusion angle measurement method based on fiber optic gyroscope and rotary encoder was proposed.First,the encoder angle signal and the fiber optic gyro rate integration value were subtracted in a sliding window,and the rate drift of fiber optic gyroscope was estimated utilize least square method from the deviation signal.Secondly,the angle was estimated using the compensated angular velocity signal and the encoder signal through a certain combination algorithm.Finally,mathematical simulation and experimental verification were conducted for the proposed method.The results show that the simulation value and experimental value of angle measurement accuracy are improved from 1.2″and 1.1″to 0.17″and 0.76″,respectively.The angular velocity measurement accuracy are also improved from 0.002°·s^-1 to 0.001°·s^-1.The proposed methed effectively improves the angle and angular velocity measurement accuracy,while avoiding the rate drift problem of fiber optic gyroscope.
出处 《光子学报》 EI CAS CSCD 北大核心 2014年第11期141-146,共6页 Acta Photonica Sinica
基金 中国科学院战略性先导科技专项(No.XDA04070702)资助
关键词 光纤陀螺仪 角编码器 角度测量 角速度 转台 Fiber optic gyroscope Angular encoders Angle measurement Angular velocity Turntable
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