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| 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 wavelet denoising |
| 投稿时间：2018-10-24 修订日期：2018-11-29 |
| DOI： |
| 中文关键词: MEMS 初始对准 小波降噪 小波阈值函数 |
| 英文关键词: MEMS initial alignment Wavelet denoising Wavelet threshold function Attitude solution |
| 基金项目:甘肃省高等学校科研项目资助（2018C-11）、甘肃省自然基金（18JR3RA107)、甘肃省自然基金（18JR3RA130）、甘肃省重点研发计划（17YF1WA158） |
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| 中文摘要: |
| 由于当前MEMS惯性传感器陀螺仪精度较低导致输出信噪比不足等现况,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,导致定位信息不准确。对此本文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。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去噪处理后再进行姿态解算,提高初始对准精度。 |
| 英文摘要: |
| Due to the low accuracy of the MEMS inertial sensor gyroscope, the initial signal-to-noise ratio of the MEMS strapdown inertial navigation system is large, and the initial alignment error is large. The initial offset is obvious, which affects the accuracy of the subsequent calculation. Inaccurate positioning information. In this paper, we propose a method to reduce the noise of the original data by using the improved thresholding wavelet and then use the magnetometer-assisted indirect coarsening method. In order to avoid the influence of gyroscope"s accuracy on the initial alignment result, the magnetometer is used to assist the alignment. The wavelet transform is used to denoise the original data of the accelerometer and the magnetometer, Initial alignment accuracy, shorten the alignment time. |
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