Research Of Key Technology Of Stablized And Automatic Tracking Platform Of Ship

The stabilized and automatic pointing and tracking platform of the ship is an important experimental equipment fixed on the ship. The equipment fixed on the platform could be kept steady by the platform and the change of platform's motion and position could also be measured continuously by the platform, so that the various disturbances can be separated while the ship navigating. The equipment fixed on the platform will be controlled to point the target by the tracking control and complete the task. Recently, the study of the stabilized and automatic pointing and tracking platform of the ship has been developed rapidly. In the context of the integrated experimental platform, how to track the target by GPS information and how to filter the GPS attitude information in the system of the stabilized and automatic pointing and tracking platform of the ship are mainly discussed in the paper based on the system total design. Following are the main works and the result of the thesis:Firstly, the function of the integrated experimental platform is analyzed to make certain the composition of the whole system. The subsystems are analyzed to understand the principle and function of themselves. Also, the main components of the subsystems are selected.Secondly, how to use the accurate kinematic positioning information of GPS to take the track controlling is studied. The process of this way is analyzed and understood, including the achievement of the real-time kinematic positioning and the computing of the angle of the platform turning. And also, the hardware of the system of tracking control and the software arithmetic of the control are designed.It is studied that the method of wavelet analysis is used to denoise the GPS attitude information of the platform. The principle of the wavelet analysis and the method of the wavelet denoising are analyzed and the reasons why the attitude information has the noise are understood. Therefore, the method of the wavelet denoising is used to denoise the attitude signals and the process of this way is studied.Finally, the effect of the tracking control with GPS and the arithmetic of the wavelet denoising are analyzed and verified seperately. It is proved that the result of the tracking control with GPS meets the requirement by means of the data which is output from the infrare equipment. Also, the effects of the different factors in the method of the wavelet denoising are analyzed to make up the proper method. It is indicated that the method of the wavelet denoising is better by comparing the results of the average denoising and the wavelet denoising.