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在机载稳定跟踪平台中对内框架速率稳定回路进行机理分析并建立数学模型,分析了陀螺的输出噪声对平台系统的影响,结果显示陀螺噪声会引起稳定平台输出轴的抖动和角度漂移并对平台系统的稳定精度与跟踪精度都有很大影响。分析了陀螺噪声数据及基于卡尔曼滤波的去噪算法并分析滤噪效果,结果表明卡尔曼滤波效果明显,是理想的陀螺噪声滤波器。
In the airborne stable tracking platform, the mechanism of the inner frame rate stabilized loop is analyzed and the mathematical model is established. The influence of the output noise of the gyro on the platform system is analyzed. The results show that the gyro noise can cause jitter and angular drift of the output shaft of the stable platform. Platform system stability and tracking accuracy have a great impact. The gyro noise data and the denoising algorithm based on Kalman filter are analyzed and the noise filtering effect is analyzed. The results show that the Kalman filter has obvious effect and is an ideal gyro noise filter.