Flexible gyroscope signal processing method adapted to north seeking in vehicle-mounted disturbance environment

Abstract

The invention relates to a gyro signal processing method for north-seeking measurement in a vehicle-mounted disturbance environment, which comprises the following steps of: S1, responding to 2000Hz timing interruption by a digital signal processor (DSP), and circularly sampling gyro data for eight times; s2, sorting the eight times of data from small to large, and averaging the middle four pieces of data after sorting; s3, performing second-order low-pass filtering processing on the data, wherein the cut-off frequency of a filter is 166 Hz; s4, carrying out wave trapping processing on the data, wherein the cut-off frequency of a wave trap is 346Hz; s5, performing lag compensation processing on the data; s6, repeatedly collecting the data generated in the step S5 for 1000 times according to a 2000H resolving period, summing the 1000 times of data, namely recording the data in a 0.5 s period as one data, and storing the data into an array; 30 pieces of data are stored in the array in total, namely 15 s period data; s7, processing the 30 pieces of data, sorting the data from small to large, and averaging the 10 pieces of data in the middle after sorting; s8, averaging the 10 processed data, and carrying out data normalization processing; and substituting the data into an inertia measurement algorithm, and resolving a measured value.

Description

technical field [0001] The invention relates to an inertial measurement method, in particular to a flexible gyro signal processing method adapted to north-seeking in a vehicle-mounted disturbance environment. Background technique [0002] The flexible gyro is one of the important components of the inertial measurement device. It is used to measure the angular velocity of the carrier and provide accurate angular velocity information for the inertial measurement device. The performance index of the flexible gyro directly affects the accuracy of the inertial measurement device. When the inertial measurement device is applied to the terrestrial vehicle environment for north-seeking measurement, the carrier is required to be in a stopped state, and there should be a good test environment without disturbance. In practical engineering applications, the vehicle environment is usually affected by the movement of people, engine operation, wind power, etc., and is in a disturbed enviro...

AI Technical Summary

Problems solved by technology

In actual engineering applications, the vehicle environment is usually affected by people walking, engine work, wind, etc., and is in a disturbed environment, which has a great impact on the gyro signal. If it is not processed, inertial measurement will not be realized, and the available measurement data

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