【作者】 孙波；

【导师】 祝海涛；

【作者基本信息】 哈尔滨工程大学 ， 机械制造及其自动化， 2010， 硕士

【摘要】 船用稳定跟踪平台是船舶可搭载的重要试验设备,它能够不断地测量平台的姿态和位置的变化,以隔离船舶在大海中由于受到各种扰动带来的影响,保持平台架设设备的姿态稳定；并通过跟踪控制,带动架设设备指向跟踪目标,完成既定任务。目前,关于船用稳定跟踪平台的研究发展迅速,其应用也越加广泛。本文以某综合试验平台系统为背景,在进行系统总体设计的基础上,着重讨论了船用稳定跟踪平台分系统的GPS跟踪控制及GPS姿态信息的滤波。本论文主要对以下几个方面进行了研究：根据综合试验平台系统的使用要求,确定整个系统的结构组成,在此基础上,对各个分系统进行分析,明确各分系统的组成原理及实现功能,并对分系统的主要组成元件进行了选择。研究利用GPS动态定位信息对稳定跟踪平台进行跟踪控制,分析、明确实现过程,包括差分定位的实现和稳定跟踪平台转动角度的计算,并进行平台跟踪控制系统的硬件设计及控制算法的软件设计。研究利用小波分析方法对稳定跟踪平台的含噪GPS姿态信息进行降噪处理,分析小波变换去噪原理、去噪方法和姿态信息误差产生原因,研究采用小波阈值去噪法对姿态信息去噪的实现过程。最后,对GPS跟踪控制效果和小波去噪算法分别进行检验和分析。利用红外跟踪器的输出信息对GPS跟踪控制效果进行检验,证明满足动态跟踪精度。分析小波阈值去噪法中不同作用因素的影响,构造出综合性能较好的去噪方法,并将时域均值去噪与小波去噪的数据处理结果进行对比,体现小波分析方法的特点。更多还原

【Abstract】 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.更多还原