Three-axis Stabilized Platform Gyro Signal Processing And Decoupling Research

Stabilized platform can isolate the angular movement of vehicle and enable the controlled objects to operate according to instructions. It is an electromechanical control system which uses gyroscope as the sensitive element. It is the key equipment for target automatic tracking and locking that is widely used in the field of science and technology such as aerospace, aviation, navigation and weapons. With the development of national defense weaponry, it requires an increasingly higher demand for the stable tracking precision of stabilized platform. This paper focuses on the gyroscope's signal and coupling relation issue of 3-axis.Firstly, a motion equation and transfer function model of the actual system's Liquid Floated Integral Gyro are built in this paper. A detailed analysis of the main factors that impact the gyro drift error is made. The mathematical model of dynamic drift error and static drift error is established.Secondly, a detailed mathematical statistics analysis is carried out and the ARMA model on the basis of time series analysis that aims at the gyroscope random drift error is built. Then the classic Kalman filtering algorithm, improved adaptive Kalman filtering algorithm and soft threshold wavelet analysis are adopted to deal with the signal of gyroscope. The results show that the three algorithms have suppressed the noise effectively to a certain degree. However, in practical engineering, wavelet de-noising algorithm is complex and bad real-time, so it is good to use the adaptive Kalman filtering algorithm in gyro's signal processing.Finally, since three shaft frame has coupling relations in the process of stable platform's movement that impacts system performance, rational allocation of the ring stand driving signal is researched in this paper. Dynamics coupling relations of three shaft in 3-axis stabilized platform are analyzed and dynamics coupling equations are established at last.