文章摘要
陈光武,程鉴皓,李少远,李文元,张琳婧.基于改进小波降噪的MEMS间接粗对准方法研究[J].,2019,59(3):323-330
基于改进小波降噪的MEMS间接粗对准方法研究
Research on indirect coarse alignment method of MEMS based on improved wavelet denoising
  
DOI:10.7511/dllgxb201903015
中文关键词: MEMS  初始对准  小波降噪  小波阈值函数  姿态解
英文关键词: MEMS  initial alignment  wavelet denoising  wavelet threshold function  attitude solution
基金项目:国家自然科学基金资助项目(61863024);甘肃省高等学校科研项目(2018C-11);甘肃省自然科学基金资助项目(18JR3RA1071610RJYA034);甘肃省科技计划资助项目(18CX3ZA004);甘肃省重点研发计划资助项目(17YF1WA158).
作者单位
陈光武,程鉴皓,李少远,李文元,张琳婧  
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中文摘要:
      当前MEMS惯性传感器陀螺仪精度较低导致输出信噪比较小,使得MEMS捷联惯导系统初始对准时误差较大,初始偏移明显,影响后续的解算精度,定位信息不准确.为此提出了一种利用改进阈值函数的小波对原始数据降噪处理后再采用磁强计辅助的MEMS间接粗对准的方法,通过引入调节系数使阈值函数同时具备软阈值和硬阈值两种特性,使得改进后的小波函数在远离阈值处有明显的边缘特性,而在靠近阈值的地方具有较好的连续性,避免信号重构时产生突变,有效减少了使用单一软阈值或硬阈值的局限性.为了避免陀螺仪精度对初始对准结果的影响而采用磁强计辅助对准,利用小波阈值降噪来对加速度计与磁强计的原始数据进行降噪处理后再进行姿态解算,提高了初始对准精度.
英文摘要:
      Due to the low accuracy of the MEMS inertial sensor gyroscope and the initial signal-to-noise ratio of the MEMS strapdown inertial navigation system is small, the error of the initial alignment is large, the initial offset is obvious, and the subsequent solution accuracy is affected. To improve the accuracy of positioning information a method based on an improved threshold function in wavelet denoising and using the magnetometer to assist the MEMS indirect coarse alignment is proposed. By introducing the adjustment coefficient, the threshold function has both soft threshold and hard threshold, so that the improved wavelet function has obvious edge characteristics away from the threshold and good continuity near the threshold to avoid mutations in signal reconstruction, then effectively avoid the limitation of using a single soft threshold or hard threshold. In order to avoid the influence of the accuracy of the gyroscope on the initial alignment result, the magnetometer is used to assist the alignment, and the wavelet threshold denoising is used to denoise the original data of the accelerometer and the magnetometer, and then the attitude calculation is performed to improve the initial alignment accuracy.
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