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惯性平台在摇摆条件下,由于轴端摩擦力矩的存在,导致在摇摆运动时影响平台稳定性,引起平台各轴附加常值漂移。介绍了两种惯性平台摇摆条件下的漂移处理方法,第一种方法利用平台轴端框架角传感器的输出数据,首先使用离散傅里叶变换得到数据频谱,其次根据数据频谱设计数字滤波器,对得到的数据进行滤波处理,最后使用线性回归法对滤波后的数据进行拟合,从而得到摇摆条件下平台摇摆漂移;第二种方法使用加速度计的输出,根据敏感的加速度可以得到敏感轴与重力加速度的角度,由此计算出摇摆过程的漂移速度。实验表明,频谱分析法可以进行三个方向的计算,但台体轴结果的稳定性不好;加速度输出拟合方法虽只可进行两个方向的计算,但稳定性较好。
Under the condition of rocking, the inertia platform will affect the stability of the platform during the swinging motion due to the frictional moment at the shaft end, which will cause the drift of the additional value of each axis of the platform. The first method uses the output data from the angular sensor of the shaft end of the platform. The first method uses the discrete Fourier transform to obtain the data spectrum, and the second one designs the digital filter according to the data spectrum. The obtained data is filtered and finally the linear regression method is used to fit the filtered data to obtain the rocking drift of the platform under the condition of rocking. The second method uses the output of the accelerometer to obtain the sensitive axis and gravity according to the sensitive acceleration Acceleration angle, thus calculating the drift speed of the swing process. Experiments show that the spectrum analysis method can calculate in three directions, but the stability of the table body axis results is not good. Although the acceleration output fitting method can only calculate in both directions, the stability is good.