基于固液层载体角运动姿态测量机理研究

项目名称： 基于固液层载体角运动姿态测量机理研究

项目编号： No.61473040

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化技术、计算机技术

项目作者： 付梦印

作者单位： 北京理工大学

项目金额： 86万元

中文摘要： 本项目针对运动载体角加速度快速准确测量中遇到的技术难题，重点开展基于固液层模型的新型角加速度计测量机理研究。针对该类型角加速度计的微隙固液空间特性，基于改进的固液层Stern模型，研究角加速度输入信号与电势差输出信号的转化关系，刻画角加速度计温度特性，构建固液层角加速度计理论模型；针对模型参数修正问题，提出角加速度计的单轴测量系统、三轴测量系统和非直接测量量标定方法，实现角加速度计模型参数准确标定；针对角加速度计的环境误差补偿问题，重点研究引力场和电磁场对双电层电荷分布的作用机理，设计引力场、电磁场测量-补偿和静电屏蔽方法，减小测量误差，提高测量精度；针对固液层角加速度计的噪声抑制问题，建立随机漂移误差模型，设计基于扩展卡尔曼滤波的液相质量体与电路噪声滤波方法。基于以上研究成果，完成新型固液层角加速度测量的原理验证。

中文关键词： 角加速度计；固液层；Stern模型；参数标定；扩展卡尔曼滤波

英文摘要： In order to solve technical problem for fast and accurate angular acceleration measurement, the theory of a new kind of angular accelerometer is studied based on the solid-fluid layer principle. Considering the micro pore platform of the angular accelerometer, we improve the Stern model of solid-fluid layer and find the relationship between angular acceleration input and voltage output. Then, on the basis of temperature characteristic of this new angular accelerometer, model of the angular accelerometer is obtained. To solve parameter correction problem and realize the calibration of model parameters, we propose calibration method of one-axis system, three-axis system and unmeasured variables. Next, as for error compensation, we research on the effect of gravitational field and electromagnetic field on the solid-fluid layer. And we design gravitational field and electromagnetic field measurement and compensation method to improve the measurement accuracy. So as to reduce the noise in fluid and circuit, we use extended Kalman filter in signal processing based on the stochastic error model. Finally, experiments are conducted to prove that the methods and theory in this project are correct and feasible.

英文关键词： Angular Accelerometer;Solid-Fluid Layer;Stern Model;Parameter Calibration;Extended Kalman Filter