Stellar sensor based nonlinear model error filter for gyroscope drift extraction

The conventional gyroscope based spacecraft attitude determination approaches are afflicted by the integration drift of gyroscope. To ameliorate the performance of gyroscope, many compensation algorithms have been developed. A novel spacecraft attitude determination algorithm, which is based on the stellar sensor and nonlinear model error filter algorithm, is discussed in this paper. This algorithm uses the attitude quaternion obtained from stellar sensor to generate the attitude information of spacecraft, which could compensate the drift error of the gyroscope unit. This approach could be utilized both as the gyroscope error compensation in high precision integrate navigation system and as an attitude determination unit individually in low precision mini-satellite task. Two verifications of different satellite orbits have been launched and the performance of our approach was proved.     

基于Kalman滤波算法的陀螺仪动态漂移补偿研究

应用MEMS陀螺仪测量人体手臂运动姿态时,针对陀螺仪受线加速度干扰导致测量姿态发散的问题,提出基于Kalman滤波算法的姿态误差补偿方法;该方法首先将陀螺仪采集到的角速度通过方向余弦算法解算得到姿态角,并将陀螺仪动态漂移造成的姿态角误差视为时变信号,通过建立姿态角漂移误差的状态方程及观测方程,应用卡尔曼滤波算法,实现对姿态角漂移误差的估计,最终达到对陀螺仪动态漂移误差的补偿;实验与仿真结果表明,应用该算法能够有效的抑制线加速度干扰导致的陀螺仪测量的姿态发散,适用于陀螺仪对人体手臂运动姿态的测量。     

基于时分复用技术的三轴光纤陀螺光路噪声及抑制技术研究

光纤陀螺小型化是光纤陀螺发展的一个重要方向,提出了一种基于时分复用技术的三轴光纤陀螺光路结构,通过复用一个光源和一个探测器大大减少了器件数量,有效地降低了成本,减小了体积。针对三轴光纤陀螺单信道多信号传感理论进行分析,给出了一种有效的信号提取方案,最后对光路串扰噪声进行了研究,提出一种噪声抑制技术并进行了实验验证。测试结果表明,噪声抑制技术效果良好,陀螺精度满足工程应用要求。     

基于改进变分模态分解的北极海域声速剖面分类

应用支持向量机对北极声速剖面进行分类,特征量提取是关键.该文采用一种基于经验模态分解的改进变分模态分解算法,以准确提取声速剖面特征量.算法首先对声速剖面信号进行经验模态分解,依据最大类间方差原则划分各分量边际谱主频带,以相似度作为最小分解层数判断标准,获得最小分解层数,进行变分模态分解.对北极区海水声速实测数据(信号)...     

干涉式光纤陀螺光路偏振特性的理论分析

首次采用琼斯矩阵建立了消偏型干涉式光纤陀螺完整光路传输系统的数学模型。在此基础上进行了光路偏振特性的理论分析,讨论了各器件的性能对陀螺偏振噪声的影响,分析了光纤消偏器的消偏作用。通过分析计算,得到了消偏型干涉式光纤陀螺的最大偏振误差表达式。在不同精度级别的消偏型光纤陀螺中,计算出了光纤消偏器应该达到的精度要求,为今后减小零漂打下了理论基础。     

基于MEMS传感器的姿态测量系统设计

为解决单目三维扫描装置摄像机标定完成后姿态不能改变的问题,针对单目三维扫描装置使用过程中的运动方式与特点,设计了一款基于 MEMS 传感器的姿态测量系统。采用四元数对姿态进行解算,通过三轴姿态确定(TRAID)算法构建量测模型,以无迹卡尔曼滤波(UKF)算法进行数据融合,能有效抑制姿态解算过程中陀螺仪的漂移问题。实验结果表明,利用该系统进行姿态测量时静态误差低于±0.2°,动态误差低于±1°,系统实时性好、适用于动态三维扫描系统。     

Mathematical modeling of random coupling between polarization modes in single-mode optical fibers: XII. Dependence of the zero drift in fiber ring interferometers in orthogonal polarization modes on the range of temperature variation in an optical fiber

Temperature dependences of the zero drift in a fiber ring interferometer (FRI) without a polarizer in the presence of random inhomogeneities in a single-mode optical fiber in the FRI loop are obtained by numerical simulation. The results are compared with known experimental data. It is shown that FRIs using a superluminescent diode as a source of nonmonochromatic radiation and a loop made of a single-mode optical fiber with weak linear birefringence can find application as low-accuracy fiber-optic gyroscopes and FRIs with a loop made of a single-mode optical fiber with strong linear birefringence can be used as medium-accuracy fiber-optic gyroscopes.     

基于经验模态分解的自混合干涉相位提取方法研究

为实现光反馈机理下激光自混合干涉信号相位的精确提取, 本文提出了一种基于经验模态分析(EMD)的方法.首先, 采用EMD算法对含噪的自混合干涉信号进行了降噪预处理, 提取有效的干涉信号.然后在对含有外腔物体运动信息的光反馈相位求解的过程中, 利用希尔伯特黄变换(HHT)原理实时提取每一时刻的瞬时相位, 将其去包裹处理后得到真实相位. 在弱、适度、强光反馈条件下, 分别对基于EMD的相位提取算法进行了仿真研究.最后, 搭建了基于自混合干涉效应的微位移测量实验平台, 进行实验研究.实验结果表明, 利用该方法可以实现对自混合干涉信号的相位提取, 最大误差小于1.6 rad.仿真和实验结果的一致性, 说明了EMD方法的有效性.     

相位敏感型光时域反射传感系统光学背景噪声的产生机理及其抑制方法

相位敏感型光时域反射(Φ-OTDR)传感系统具有响应速度快、灵敏度高等优点,能够实现对微弱扰动的分布式检测,在重大设施的入侵警戒、大型工程结构的健康监测等领域具有广阔应用前景.然而,与传统的OTDR传感系统不同,Φ-OTDR系统中存在着激光器中心频率漂移、偏振相关的噪声、光纤应变与干涉强度非线性对应关系引起的测量失真等光学背景噪声,对有效信号的提取形成了不可忽视的干扰,从而限制了Φ-OTDR传感系统在实际应用环境下的传感性能.本文对这些光学背景噪声的产生机理进行了深入分析,并提出了相应的噪声抑制方法.实验结果表明,本文提出的方法可以有效抑制Φ-OTDR传感系统中的光学背景噪声,并显著提高传感系统性能.     

Reduced minimum configuration fiber optic gyro for land navigation applications

Further cost reduction of the fiber optic gyroscope is necessary in order to meet the economic requirements of land navigation systems. We have previously concentrated on the reduction of the number of splices and component improvements in the open-loop, minimum configuration. Now we eliminate nonessential components and splices. The source-detector coupler is not part of the Sagnac interferometer and serves solely to provide isolation between the broadband optical source and the photodetector. Many commercial laser diodes incorporate a back-facet photodetector to monitor laser intensity. The signal returned from the Sagnac interferometer traverses the laser, is received at this photodetector, and can be distinguished from the laser signal by the bias modulation. Configuring a gyro in this manner eliminates a directional coupler and the separate photodetector as well as up to three fiber splices in an all-fiber gyroscope. A production, open-loop, fiber optic gyroscope has been modified to demonstrate this principal. The gyroscope can be constructed with only two fiber splices and exhibits performance comparable to the conventional minimum configuration.     

谐振式光子带隙光纤陀螺一体化方案

实现了使用光子带隙光纤的一体化谐振式光纤陀螺方案,设计并制作了谐振腔中基于微光学结构的耦合器。实验测得制作的谐振腔清晰度为3.7。搭建了基于该谐振腔的陀螺系统,并对其主、次偏振态的谐振曲线进行了实际测量。实验结果测得该系统60 s零漂为2.45 ()/s,及1 h长期稳定性为7.11 ()/s。同时,实现了对应陀螺输出50 ()/s（积分时间10 s）及100 ()/s（积分时间10 s）的模拟转速实验,验证了该陀螺系统的Sagnac效应。分析得到耦合损耗是影响该陀螺系统性能的主要因素。验证了该谐振腔结构具有应用于陀螺系统的可行性,为谐振式光纤陀螺性能进一步提高提供了参考。     

一种新型外差光纤陀螺

本文提出了一种采用电光移频器和高双折射光纤构成的新型外差检测方式的光纤陀螺方案。它既能改善通常外差光纤陀螺中存在的光路非互易性且无需使用声光器件,又能避免采用高双折射光纤的直接检测光纤陀螺中电子线路直流漂移的影响。初步实验的结果显示出该系统具有良好的定标因子线性度。     

基于Allan方差的光纤陀螺随机漂移建模与仿真

随机漂移是影响光纤陀螺精度的主要因素之一,建立陀螺随机漂移模型以便在滤波时加以修正是提高系统精度的有效方法。针对传统随机漂移模型建模耗时长、过敏感等问题,提出基于Allan方差的光纤陀螺随机漂移模型。通过各噪声项的功率谱密度函数推导出随机微分方程,用Allan方差分析出光纤陀螺各噪声项量化参数,将量化参数代入以单位白噪声驱动的随机微分方程,得到随机漂移模型。实验结果表明,该模型拟合出的随机漂移单项噪声误差不超过8.6％,远低于传统模型产生的单项噪声误差58.3％,是一种有效的光纤陀螺随机漂移建模方法。     

单光纤光纤陀螺误差分析

单光纤光纤陀螺采用的是单光纤在线制作技术。由于这种方法是把所有的光器件都放在一根光纤上制作,因此各光器件的连接处没有融接点,并且光器件的性能可在线控制。在分析其结构的基础上建立了开环FOG的光学模型,并进行了误差分析。指出了单光纤光纤陀螺方案是低成本、高可靠性、易于工程化的一种方案。     

基于单模光纤的交叉相位调制型频率分辨光学开关超短脉冲测量

利用单模光纤中的光弹效应和交叉相位调制(XPM)效应,提出了一种频率分辨光学开关法测量超短脉冲的新方案.在本方案中,单模光纤的前一部分产生可变延迟,后一部分作为非线性介质产生非线性效应.该方案只需一根单模光纤,无须复杂的光路校准,结构简单,损耗低;光纤中的XPM效应易发生,无须相位匹配.对提出的方案进行了数值模拟,采用基于矩阵的主元素广义投影算法,恢复出待测脉冲的幅度和相位信息,并研究了光纤长度和待测超短脉冲的脉冲宽度对测量结果的影响.结果表明:测量准确度随着光纤长度的增加而提高,选取长度为2 km的光纤,就可以实现对超短脉冲的准确测量;本文方案适用于脉冲宽度不小于80 fs的超短光脉冲的测量.     

Single-mode fiber gyroscope with three depolarizers

In this letter we present a single-mode fiber gyroscope (FOG) with low long-term drift. Only single-mode fiber components except for three fiber depolarizers were used. A simplified mathematic model has been proposed to explain the bias stability of the gyro. Several open-loop and closed-loop FOGs with 0.1–0.5°/h drift have been demonstrated.     

光纤陀螺漂移稳定控制方法研究

从理论人分析光纤陀螺位相调制器及光源不稳定对整机性能特别是对漂移的影响,通过研究,利用光纤陀螺基频分量、一次谐波及二次谐波分量的组合抑制光纤陀螺噪声,稳定控制光纤陀螺漂移,提高光纤陀螺栓测灵敏度。制作了实施电路。     

基于UKF的恒星相机高精度姿态确定方法

为进一步提升姿态确定的精度和稳定性,首先分析了恒星相机和陀螺联合定姿的基本原理,然后选用误差四元数作为状态变量,推导了基于无迹卡尔曼滤波的恒星相机和陀螺联合定姿的算法.针对恒星相机、陀螺敏感器精度要求高的特点,仿真了多种精度的恒星相机数据和陀螺数据进行无迹卡尔曼滤波定姿试验,并与扩展卡尔曼滤波定姿试验结果进行了比较.试验表明无迹卡尔曼滤波定姿方法有效可靠、适用性强,可以有效提高恒星相机的姿态确定精度,三轴精度较扩展卡尔曼滤波算法提高约10%到20%.     

A medical image fusion method based on energy classification of BEMD components

A medical image fusion method based on bi-dimensional empirical mode decomposition (BEMD) and dual-channel PCNN is proposed in this paper. The multi-modality medical images are decomposed into intrinsic mode function (IMF) components and a residue component. IMF components are divided into high-frequency and low-frequency components based on the component energy. Fusion coefficients are achieved by the following fusion rule: high frequency components and the residue component are superimposed to get more textures; low frequency components contain more details of the source image which are input into dual-channel PCNN to select fusion coefficients, the fused medical image is achieved by inverse transformation of BEMD. BEMD is a self-adaptive tool for analyzing nonlinear and non-stationary data; it doesn’t need to predefine filter or basis function. Dual-channel PCNN reduces the computational complexity and has a good ability in selecting fusion coefficients. A combined application of BEMD and dual-channel PCNN can extract the details of the image information more effectively. The experimental result shows the proposed algorithm gets better fusion result and has more advantages comparing with traditional fusion algorithms.     

Analysis of shupe effect in polarization-maintaining photonic crystal fiber-optic gyroscope

The Shupe effect in a fiber optical gyroscope with polarization-maintaining photonic crystal fiber was studied. The thermal sensitivitise of the polarization-maintaining photonic crystal fiber and conventional polarization-maintaining fiber were simulated and measured. Then the Shupe error in the gyroscope was analyzed. The contrast results showed that the Shupe error of the gyroscope with the polarization-maintaining photonic crystal fiber is quantitatively comparable to that using the conventional polarization-maintaining fiber.