Signal processing method, device, equipment, storage medium and computer product

Abstract

The present application relates to the technical field of gyro north finders, and in particular to a signal processing method, device, equipment, storage medium and computer product. The method comprises: obtaining N groups of orthogonal position gyro output values ​​of a fiber optic gyro north finder, and determining N north-finding solution data to be treated according to the N groups of orthogonal position gyro output values, wherein N is a natural number greater than 1; performing cross-pair recombination on the N north-finding solution data to be treated, and obtaining N 2 Treat north-seeking solution data; according to N 2 Treat the north-seeking solution data to determine N 2 North-seeking solution value, and according to N 2 The north-seeking solution values ​​are processed for consistency check to obtain M north-seeking solution values; the M north-seeking solution values ​​are processed for average to obtain the final north-seeking calculation value of the fiber optic gyro north-seeker. The present application aims to improve the north-seeking accuracy of the fiber optic gyro north-seeker without increasing the equipment cost and operation time.

Description

Technical Field

[0001] The present application relates to the technical field of gyro north finders, and in particular to a signal processing method, device, equipment, storage medium and computer product. Background Art

[0002] In the application field of fiber optic gyro north finders, high precision and fast response are key indicators to measure their performance. However, traditional methods to improve north-seeking accuracy face the dual challenges of time and cost. On the one hand, although reducing uncertainty by increasing the number of north-seeking times and averaging the average can effectively improve the north-seeking accuracy, it significantly increases the operation time and is not suitable for application scenarios with strict requirements on timeliness. On the other hand, the use of higher-precision fiber optic gyroscopes can certainly directly improve measurement accuracy, but high-precision gyroscopes are often accompanied by high costs, which limits their application in terms of economy and popularity.

[0003] Therefore, how to improve the north-seeking accuracy of the fiber optic gyro north-finder without increasing the equipment cost and operation time is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The main purpose of the present application is to provide a signal processing method, apparatus, device, storage medium and computer product, aiming to improve the north-seeking accuracy of a fiber optic gyro north-seeker without increasing equipment cost and operation time.

[0005] To achieve the above object, the present application provides a signal processing method, the signal processing method comprising: obtaining N groups of orthogonal position gyro output values ​​of a fiber optic gyro north finder, and determining N pairs of north-seeking solution data to be processed according to the N groups of orthogonal position gyro output values, wherein N is a natural number greater than 1;

[0006] According to N, the data to be solved for north finding are cross-recombined in pairs to obtain N 2 Calculating the data for the north to be found;

[0007] According to N 2 Determine N for the north-finding solution data to be solved 2 North-seeking solution value, and according to N 2 The north-seeking solution values ​​are subjected to consistency check processing to obtain M north-seeking solution values, wherein: ;

[0008] Average processing is performed on the M north-seeking solution values ​​to obtain a final north-seeking calculation value of the fiber optic gyro north-seeking instrument.

[0009] In one embodiment, the orthogonal position gyro output values ​​are set to the first position gyro output value, second position gyro output value, third position gyro output value and fourth position gyro output value of the fiber optic gyro north finder at the first position angle, second position angle, third position angle and fourth position angle; wherein the first position angle differs from the third position angle by 180°, and the second position angle differs from the fourth position angle by 180°.

[0010] In one embodiment, the step of determining N sets of north-finding solution data according to the N sets of orthogonal position gyro output values ​​comprises:

[0011] The N groups of orthogonal position gyro output values ​​are traversed in chronological order, and for each of the orthogonal position gyro output values, the first difference data between the first position output value and the third position output value is used as the horizontal axis data of the position, and the second difference data between the second position output value and the fourth position output value is used as the vertical axis data of the position to construct N pairs of north-seeking solution data.

[0012] In one embodiment, the data to be solved for north finding includes position horizontal axis data and position vertical axis data, and the data to be solved for north finding is cross-recombined in pairs according to N to obtain N. 2 The data to be solved for north finding include:

[0013] For each target solution data, the position horizontal axis data in the target solution data is used as the reference horizontal axis data, and N pairs of position vertical axis data in the to-be-found north solution data are constructed to obtain N pairs of to-be-found north solution data with the same horizontal axis data;

[0014] For each target solution data, the position vertical axis data in the target solution data is used as the reference vertical axis data, and N pairs of position horizontal axis data in the to-be-found north solution data are used to construct N pairs of to-be-found north solution data with the same vertical axis data;

[0015] Based on N pairs of north-finding solution data with the same horizontal axis data and N pairs of north-finding solution data with the same vertical axis data, N 2 The data for the north to be found are solved.

[0016] In one embodiment, the N 2 The step of performing consistency check on the north-seeking solution values ​​to obtain M north-seeking solution values ​​comprises:

[0017] In descending order, N 2 The north-seeking solution values ​​are sorted to obtain the sorted N 2 the north-seeking solution values, and the sorted N 2The maximum value and the minimum value of the north-seeking solution values ​​are deleted from the north-seeking solution values ​​to obtain N 2 -2 north-seeking solution values;

[0018] According to N 2 -2 north-seeking solution values ​​are averaged to obtain the north-seeking solution mean, and the north-seeking solution mean and N are used to calculate the north-seeking solution. 2 -2 of the north-seeking solution values ​​determine M of the north-seeking solution values.

[0019] In one embodiment, the north-seeking solution is based on the mean and N 2 The step of determining M north-seeking solution values ​​from -2 north-seeking solution values ​​comprises:

[0020] Determine the absolute difference between each of the north-seeking solution values ​​and the north-seeking solution mean, and use N 2 The north-seeking solution values ​​whose absolute difference among the -2 north-seeking solution values ​​is greater than the preset maximum allowable north-seeking deviation value are deleted to obtain M north-seeking solution values.

[0021] In addition, to achieve the above-mentioned purpose, the present application also provides a signal processing device, the signal processing device comprising:

[0022] An acquisition module is used to acquire N groups of orthogonal position gyro output values ​​of the fiber optic gyro north finder, and determine N pairs of north-finding solution data to be processed according to the N groups of orthogonal position gyro output values, wherein N is a natural number greater than 1;

[0023] The reorganization module is used to perform cross-pair reorganization on the data to be solved for north finding according to N, and obtain N 2 Calculating the data for the north to be found;

[0024] Verification module, used according to N 2 Determine N for the north-finding solution data to be solved 2 north-seeking solution value, and according to the N 2 The north-seeking solution values ​​are subjected to consistency check processing to obtain M north-seeking solution values, wherein: ;

[0025] A processing module is used to perform average processing based on the M north-seeking solution values ​​to obtain a final north-seeking calculation value of the fiber optic gyro north-seeker.

[0026] Each functional module of the signal processing device of the present application implements the steps of the signal processing method of the present application as described above during operation.

[0027] In addition, to achieve the above-mentioned purpose, the present application also provides a device, which includes a memory, a processor, and a signal processing program stored in the memory and executable on the processor, and the signal processing program implements the steps of the above-mentioned signal processing method when executed by the processor.

[0028] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer-readable storage medium, and a signal processing program is stored on the computer-readable storage medium. When the signal processing program is executed by a processor, the steps of the above-mentioned signal processing method are implemented.

[0029] In addition, to achieve the above-mentioned purpose, the present application also provides a computer product, which includes a computer program, and the computer program contains computer program code means stored on a computer-readable medium or a carrier, and the computer program code means is configured to implement the steps of the above-mentioned signal processing method when executed by a computer or a processor.

[0030] Without increasing the equipment cost and operation time, the present invention proposes a signal processing method to significantly improve the north-seeking accuracy of the fiber optic gyro north finder. Specifically, after accurately obtaining N pairs of north-seeking solution data based on the N groups of orthogonal position gyro output values ​​of the fiber optic gyro north finder, the N pairs of north-seeking solution data can be reorganized into N pairs by adopting a cross-pair recombination method. 2 For the north-finding solution data, more north-finding solution data can be obtained by cross-pair recombination in the same operation time as the traditional method of improving north-finding accuracy, which significantly improves the data utilization rate of N groups of orthogonal position gyro output values, thereby providing a huge and reliable data source for the subsequent improvement of north-finding accuracy; next, according to N 2 The north-seeking solution values ​​are checked for consistency, so that N 2 The abnormal north-seeking solution values ​​among the north-seeking solution values ​​are removed to obtain M reliable north-seeking solution values. Finally, the final north-seeking calculation value of the fiber optic gyro north-seeking instrument can be accurately obtained by averaging the M north-seeking solution values, which effectively solves the time and cost challenges faced by traditional methods in improving the north-seeking accuracy, and significantly improves the north-seeking accuracy of the fiber optic gyro north-seeker without increasing the equipment cost and operation time. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a flowchart of the first embodiment of the signal processing method of the present application;

[0032] Figure 2 It is a schematic diagram of the output value of the fiber optic gyroscope involved in the embodiment of the present application;

[0033] Figure 3is a signal processing flow chart involved in the embodiment of the present application;

[0034] Figure 4 is a schematic diagram of the structure of a signal processing device involved in an embodiment of the present application;

[0035] Figure 5 This is a schematic diagram of the structure of the signal processing device involved in the embodiment of the present application.

[0036] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0037] The present application embodiment provides a signal processing method, referring to Figure 1 As shown, Figure 1 It is a flowchart of the first embodiment of the signal processing method of the present application.

[0038] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0039] The fiber optic gyro north finder is a new type of high-precision sensor that measures the angular velocity of the carrier relative to the inertial space. The principle of the fiber optic gyro north finder is to measure the projection component of the earth's rotation angular velocity on its sensitive axis through the fiber optic gyro, and solve the true north direction of the carrier. It is a high-precision inertial instrument that can indicate the direction autonomously.

[0040] In order to improve the accuracy of north-seeking, multiple north-seeking operations are usually used to average multiple groups of north-seeking solution values ​​to improve the accuracy of north-seeking. In theory, this method is to increase the number of north-seeking solution values, that is, to increase the amount of fiber optic gyro data collection, based on the principle of reducing the influence of random drift and zero drift by error averaging. Using multiple north-seeking methods to obtain multiple north-seeking values ​​for averaging and variance calculation is a conventional method for evaluating and improving the accuracy of fiber optic gyro north-seekers, as described in "JJF1350-2012 Gyro Theodolite Calibration Specification" and "XTG-10A Fiber Optic Gyro North-Seeker Specification". Through multiple north-seeking operations, n north-seeking solution values ​​are obtained, and the repeatability accuracy of this group of fiber optic gyro north-seekers can be expressed as:

[0041]

[0042] in, is the final north-seeking calculation value, is the i-th north-seeking solution value, is the average of n north-seeking solution values.

[0043] According to statistical principles, the uncertainty of the north-seeking result can be reduced by averaging n north-seeking solution values. times, thus improving the accuracy of finding the north The disadvantage of this method is that the more times the north is sought, the longer it takes, so it is limited in some situations where the time required for north seeking is limited. Another way to improve the accuracy of the north finder is to use a higher-precision fiber optic gyroscope, but the higher the accuracy, the higher the cost.

[0044] Therefore, there is an urgent need for a signal processing method that improves the north-seeking accuracy of a fiber optic gyroscope without increasing cost and time. Specifically, the present application provides a signal processing method, device, equipment, storage medium, and computer product.

[0045] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, a database system, etc., or a device capable of realizing the above functions, such as a signal processing device, etc. The following takes a signal processing device as an example to illustrate this embodiment and the following embodiments.

[0046] The signal processing method of the present application includes the following implementation steps S10 to S40.

[0047] Step S10: obtaining N groups of orthogonal position gyro output values ​​of the fiber optic gyro north finder, and determining N pairs of north-finding solution data to be processed according to the N groups of orthogonal position gyro output values, wherein N is a natural number greater than 1.

[0048] In this embodiment, the zero-position random error of the fiber optic gyroscope or the zero-position drift due to temperature and other factors will affect the accuracy of the north finder. Among them, the zero-position random error shows an inversely proportional relationship with the square root of the sampling time, which is mainly caused by the random error of the optoelectronic device in the fiber optic gyroscope. Among them, the zero-position drift refers to the slow drift change of the zero position that presents low-frequency characteristics with temperature changes, etc., showing the characteristics that the gyroscope zero-position drift deviation is small at two time points with a short time interval, and the gyroscope zero-position drift deviation is large at two time points with a long time interval. In order to suppress the influence of the zero-position drift of the gyroscope, the present application performs N north-seeking operations at a preset operation time, so that N groups of orthogonal position gyroscope output values ​​can be accurately obtained in real time, thereby providing an accurate and reliable data source for the subsequent acquisition of the north-seeking solution data; next, the N pairs of north-seeking solution data to be accurately obtained based on the N groups of orthogonal position gyroscope output values ​​realize the suppression of zero-position drift.

[0049] Step S20: Cross-pair reorganization of the data to be solved for north finding according to N to obtain N 2 The data for the north to be found are solved.

[0050] In this embodiment, the north-finding solution data are cross-recombined in pairs according to N to obtain N 2 Treating north-seeking solution data improves the utilization rate of N treated north-seeking solution data obtained based on N north-seeking operations within the preset operation time. That is, through the cross-pair recombination method, the originally limited N treated north-seeking solution data is cleverly expanded to N 2 For the north-seeking solution data, without increasing any additional operation time or equipment costs, not only the amount of data to be solved for north-seeking has increased exponentially, but also more comprehensive and reliable data support has been provided for the subsequent improvement of north-seeking accuracy.

[0051] Step S30: Based on N 2 Determine N for the north-finding solution data to be solved 2 North-seeking solution value, and according to N 2 The north-seeking solution values ​​are subjected to consistency check processing to obtain M north-seeking solution values, wherein: .

[0052] In this embodiment, according to N 2 Treat the north-seeking solution data to determine the same number of N 2 North-seeking solution value, and N 2 The consistency check of the north-seeking solution values ​​is effectively performed from the massive data (i.e. N 2 This not only greatly improves the accuracy and credibility of the north-seeking solution values, but also ensures that the final solution value set used for positioning calculation (i.e., the M north-seeking solution values) is strictly verified, thereby significantly enhancing the stability and adaptability of the fiber optic gyro north-seeker in complex environments.

[0053] Step S40: performing average processing on the M north-seeking solution values ​​to obtain a final north-seeking calculation value of the fiber optic gyro north-seeking instrument.

[0054] In this embodiment, by averaging M north-seeking solution values ​​that have undergone consistency verification, the final north-seeking calculation value of the fiber optic gyro north-seeker can be accurately obtained. This not only further improves the accuracy and stability of the north-seeking result, but also effectively reduces the risk of overall calculation deviation caused by abnormalities or errors in a single north-seeking solution value, ensuring that the final output north-seeking calculation value can truly and accurately reflect the actual measurement of the fiber optic gyro north-seeker, providing reliable protection for high-precision navigation and positioning tasks, and significantly improving the north-seeking accuracy of the fiber optic gyro north-seeker.

[0055] It should be noted that the algorithm corresponding to the mean processing is shown in formula (1): ;in, It is the final north-seeking calculation value; Indicates that the number of north-seeking solution values ​​is M; Indicates the kth north-seeking solution value among M north-seeking solution values.

[0056] In summary, without increasing the equipment cost and operation time, the present invention proposes a signal processing method that significantly improves the north-seeking accuracy of the fiber optic gyro north finder. Specifically, after accurately obtaining N pairs of north-seeking solution data based on the N groups of orthogonal position gyro output values ​​of the fiber optic gyro north finder, the N pairs of north-seeking solution data can be reorganized into N pairs by adopting a cross-pair recombination method. 2 For the north-finding solution data, more north-finding solution data can be obtained by cross-pair recombination in the same operation time as the traditional method of improving north-finding accuracy, which significantly improves the data utilization rate of N groups of orthogonal position gyro output values, thereby providing a huge and reliable data source for the subsequent improvement of north-finding accuracy; next, according to N 2 The north-seeking solution values ​​are checked for consistency, so that N 2 The abnormal north-seeking solution values ​​among the north-seeking solution values ​​are removed to obtain M reliable north-seeking solution values. Finally, the final north-seeking calculation value of the fiber optic gyro north-seeking instrument can be accurately obtained by averaging the M north-seeking solution values, which effectively solves the time and cost challenges faced by traditional methods in improving the north-seeking accuracy, and significantly improves the north-seeking accuracy of the fiber optic gyro north-seeker without increasing the equipment cost and operation time.

[0057] Further, based on the first embodiment of the signal processing method of the present application, a second embodiment of the signal processing method of the present application is proposed. In some feasible embodiments, the orthogonal position gyro output value is set to the first position gyro output value, the second position gyro output value, the third position gyro output value and the fourth position gyro output value of the fiber optic gyro north finder at the first position angle, the second position angle, the third position angle and the fourth position angle; wherein the first position angle differs from the third position angle by 180°, and the second position angle differs from the fourth position angle by 180°.

[0058] In this embodiment, refer to Figure 2 , Figure 2 is a schematic diagram of the output value of the fiber optic gyroscope involved in the embodiment of the present application. The first position angle, the second position angle, the third position angle and the fourth position angle can be respectively Figure 2 The 0º position, 90º position, 180º position and 270º position are shown. Figure 2The sensitive axis of the fiber optic gyroscope shown is parallel to the table top of the single-axis rotating platform. When the rotating platform is in a horizontal plane, the first position output value can be the output value of the fiber optic gyroscope at the 0º position; the second position output value can be the output value of the fiber optic gyroscope at the 90º position; the third position output value can be the output value of the fiber optic gyroscope at the 180º position; and the third position output value can be the output value of the fiber optic gyroscope at the 270º position.

[0059] It should be noted that the output values ​​of the fiber optic gyro at the positions of 0°, 180°, 90° and 270° can be expressed by the following formula (2) respectively.

[0060]

[0061]

[0062]

[0063]

[0064] in, is the fiber optic gyro scale factor, To find the local geographical latitude of the North Instrument, is the Earth's rotation speed, is the angle between the sensitive axis of the north-finder and the geographic north direction, , , and They are the gyro bias errors at 0º, 180º, 90º and 270º respectively. The gyro bias errors are composed of drift error and random error. , , and They are the output values ​​of the fiber optic gyro at the positions of 0º, 180º, 90º and 270º respectively.

[0065] Further, in some feasible embodiments, the above step S10: the step of determining N pairs of north-finding solution data according to the N groups of orthogonal position gyro output values ​​includes: and also includes the following implementation step S101:

[0066] Step S101: traverse N groups of the orthogonal position gyro output values ​​in chronological order, and for each of the orthogonal position gyro output values, the first difference data between the first position output value and the third position output value is the position horizontal axis data, and the second difference data between the second position output value and the fourth position output value is the position vertical axis data to construct N pairs of north-seeking solution data.

[0067] In this embodiment, N groups of orthogonal position gyro output values ​​are traversed in chronological order, and N pairs of north-finding solution data are constructed based on the N groups of orthogonal position gyro output values; specifically, the first difference data between the first position output value and the third position output value in each orthogonal position gyro output value is the position horizontal axis data, and the second difference data between the second position output value and the fourth position output value is the position vertical axis data, which can effectively reduce the influence of errors such as random drift, so that N pairs of north-finding solution data can be constructed more accurately.

[0068] In a specific embodiment, refer to Figure 2 During the rotation of the turntable, since the 0º and 180º positions are measured continuously and the time interval is short, the drift errors in their zero bias errors ε are similar. Most of the drift errors can be eliminated by formula (3). The same is true for the 90º and 270º positions. The following set of north-finding solution data (i.e., gyro calculation values) is obtained, as shown in formula (3):

[0069]

[0070]

[0071] in, is the position horizontal axis data; is the position vertical axis data; as well as are the residual drift error and random error at different times.

[0072] Further, in some feasible embodiments, the data to be solved for north finding includes position horizontal axis data and position vertical axis data; the above step S20: cross-pair reorganization of the data to be solved for north finding according to N, to obtain N 2 The method further includes implementing the following steps A10 to A30 for the data to be solved for north finding.

[0073] Step S201: for each target solution data, taking the position horizontal axis data in the target solution data as the reference horizontal axis data, and constructing N pairs of the position vertical axis data in the to-be-found north solution data to obtain N pairs of to-be-found north solution data with the same horizontal axis data;

[0074] Step S202: for each target solution data, taking the position vertical axis data in the target solution data as the reference vertical axis data, and constructing N pairs of the position horizontal axis data in the to-be-found north solution data to obtain N pairs of to-be-found north solution data with the same vertical axis data;

[0075] Step S203: Obtain N pairs of north-finding solution data with the same horizontal axis data and N pairs of north-finding solution data with the same vertical axis data. 2The data for the north to be found are solved.

[0076] In this embodiment, by taking the position horizontal axis data and the position vertical axis data in the target solution data as the reference data respectively, for example, according to the position horizontal axis data in the target solution data and the position vertical axis data in the N pairs of north-finding solution data, N pairs of north-finding solution data with the same position horizontal axis data and different position vertical axis data are constructed, and according to the position vertical axis data in the target solution data and the position horizontal axis data in the N pairs of north-finding solution data, N pairs of north-finding solution data with the same position vertical axis data and different position horizontal axis data are constructed; finally, according to the N pairs of north-finding solution data with the same horizontal axis data and the N pairs of north-finding solution data with the same vertical axis data, N pairs of north-finding solution data with the same horizontal axis data can be accurately obtained. 2 Treat the north-seeking solution data; that is, through the cross-pair recombination method, a more diverse data set can be generated based on the limited N treated north-seeking solution data (N 2 For the north-seeking solution data, the data sample size for the north-seeking solution data is significantly increased.

[0077] In a specific embodiment, in order to improve the utilization rate of N north-finding solution data, the (X, Y) data pairs to be solved for north-finding obtained in each of the N north-finding times are cross-recombined to obtain N*N north-finding solution data:

[0078] (X1, Y1), (X1, Y2),..., (X1, Yn);

[0079] (X2, Y1), (X2, Y2),..., (X2, Yn); ......

[0080] (Xn, Y1), (Xn, Y2), ..., (Xn, Yn).

[0081] Among them, X1 refers to the horizontal axis data of the position obtained when the north-seeking operation is performed for the first time, and X2 refers to the horizontal axis data of the position obtained when the north-seeking operation is performed for the second time; Xn refers to the horizontal axis data of the position obtained when the north-seeking operation is performed for the Nth time; Y1 refers to the vertical axis data of the position obtained when the north-seeking operation is performed for the first time, and Y2 refers to the vertical axis data of the position obtained when the north-seeking operation is performed for the second time; Yn refers to the vertical axis data of the position obtained when the north-seeking operation is performed for the Nth time.

[0082] Further, in some other feasible embodiments, the above step S30: according to the N 2 The north-seeking solution values ​​are subjected to consistency check processing to obtain M north-seeking solution values, and the following implementation steps S301~S302 may also be included.

[0083] Step S301: sort N in descending order of value. 2 The north-seeking solution values ​​are sorted to obtain the sorted N 2 the north-seeking solution values, and the sorted N 2 The maximum value and the minimum value of the north-seeking solution values ​​are deleted from the north-seeking solution values ​​to obtain N 2 -2 north-seeking solution values.

[0084] In this embodiment, N is obtained according to the north-finding algorithm. 2 After treating the north-seeking solution value corresponding to each north-seeking solution data in the north-seeking solution data, N 2 The north-seeking solution values ​​are sorted, and then the maximum and minimum north-seeking solution values ​​are deleted, so as to eliminate possible extreme outliers, which can effectively reduce the data deviation caused by equipment noise, environmental interference and other factors, thereby obtaining N 2 -2 north-seeking solution values ​​that are closer to the true value provide a more accurate data basis for subsequent averaging processing, which helps to further improve the north-seeking accuracy and performance of the fiber optic gyro north finder.

[0085] Step S302: Based on N 2 -2 north-seeking solution values ​​are averaged to obtain the north-seeking solution mean, and the north-seeking solution mean and N are used to calculate the north-seeking solution. 2 -2 of the north-seeking solution values ​​determine M of the north-seeking solution values.

[0086] In this embodiment, according to N 2 -2 north-seeking solution values ​​are averaged to obtain the north-seeking solution mean, and the north-seeking solution mean and N are used to calculate the north-seeking solution. 2 -2 north-seeking solution values ​​determine M north-seeking solution values ​​that are finally used for calculation. That is, the data fluctuation of the north-seeking solution value is effectively smoothed by the mean processing, reducing the influence of random errors. At the same time, combining the north-seeking solution mean with N 2 -2 north-seeking solution values ​​are used to screen the M most reliable north-seeking solution values, which can further eliminate those abnormal values ​​that deviate greatly from the north-seeking solution mean, ensuring that the final solution value set used for positioning is both representative and highly accurate. This not only improves the stability and accuracy of the north-seeking calculation, but also enhances the adaptability and reliability of the fiber optic gyro north finder in complex environments.

[0087] It should be noted that the north-finding algorithm is as shown in the following formula (4):

[0088]

[0089] in, N 2-The first of the two north-seeking solutions A north-seeking solution value; is the true north value; is the difference between the north-seeking solution and the true north value, that is, is the residual error The north-seeking deviation caused by To calculate the The position vertical axis data of the north-seeking solution value; To calculate the The horizontal axis data of the position of the north-seeking solution value.

[0090] Further, in some feasible embodiments, the above step S302: calculating the mean value and N according to the north-seeking solution 2 -2 the north-seeking solution values ​​to determine M the north-seeking solution values, and may also include the following implementation step S3021.

[0091] Step S3021: Determine the absolute difference between each of the north-seeking solution values ​​and the north-seeking solution mean, and delete the north-seeking solution values ​​whose absolute difference among the N2-2 north-seeking solution values ​​is greater than the preset maximum allowable north-seeking deviation value, to obtain M north-seeking solution values.

[0092] In this embodiment, by calculating the absolute difference between each north-seeking solution value and the north-seeking solution mean value, and deleting the north-seeking solution values ​​whose absolute difference exceeds the preset maximum allowable north-seeking deviation value, the N 2 -M more accurate and reliable north-seeking solution values ​​are selected from the 2 north-seeking solution values, which not only further eliminates potential outliers and noise interference, but also ensures that the remaining M north-seeking solution values ​​are closely around the true north-seeking direction, thereby significantly improving the accuracy and stability of the north-seeking results.

[0093] In another embodiment, referring to Figure 3 , Figure 3 is a signal processing flow chart involved in the embodiment of the present application. Specifically, after determining the N groups of orthogonal position gyro output values ​​of the fiber optic gyro north finder, and the N groups of orthogonal position gyro output values ​​can be used Figure 3 shown ( , , , )、( , , , ),……,( , , , ) represents; Next, the output values ​​of the fiber optic gyro at the relative 180° position in each set of orthogonal position gyro output values ​​are preprocessed to achieve the purpose of suppressing the drift of the fiber optic gyro, and the north-finding solution data to be obtained can be accurately obtained. For example, for ( , , , ) data preprocessing to obtain the north-finding solution data expression is (X1= , Y1= );against( , , , The data expression for north-finding solution obtained by data preprocessing is (X2= , Y2= );……;against( , , , The data expression for north-finding solution obtained by data preprocessing is (Xn= ,Yn= ). Next, the N groups of data to be solved for north finding are cross-paired and reorganized and solved for north finding to obtain multiple north finding solution values. For example, the north finding solution value corresponding to the data to be solved for north finding (X1, Y1) is 11 ; The north-seeking solution value corresponding to the north-seeking solution data (X1, Y2) is 12 ; ...; The north-seeking solution value corresponding to the north-seeking solution data (X1, Yn) is 1n , the north-seeking solution value corresponding to the north-seeking solution data (X2, Y1) is 21 , the north-seeking solution value corresponding to the north-seeking solution data (X2, Y2) is 21 ; ...; The north-seeking solution value corresponding to the north-seeking solution data (X2, Yn) is 2n ; The north-seeking solution value corresponding to the north-seeking solution data (Xn, Y1) is n1 , the north-seeking solution value corresponding to the north-seeking solution data (Xn, Y2) is n2 , the north-seeking solution value corresponding to the north-seeking solution data (Xn, Yn) is nn Next, after consistency check and abnormal data elimination for multiple north-seeking solution values, the remaining multiple processed north-seeking solution values ​​are averaged and the final north-seeking calculation value is output as the carrier true north value. .

[0094] In summary, the present application adopts a cross-pair reorganization method to reorganize N groups of orthogonal position gyro output values ​​into N*N pairs of north-seeking solution data to obtain more north-seeking solution values, thereby improving the utilization rate of N groups of orthogonal position gyro output values. Ultimately, under the same number of north-seeking times and time, the number of north-seeking solution values ​​is increased from n in the traditional method to M. , thus reducing the uncertainty of the fiber optic gyro north finder times, thus improving the accuracy of finding the north That is, the present application has the characteristic of improving the north-seeking accuracy of the fiber optic gyroscope without increasing the cost and time.

[0095] In addition, the present application also provides a signal processing device, please refer to Figure 4 , Figure 4 Schematic diagram of the structure of the signal processing device involved in the embodiment of the present application. The signal processing device provided in the present application includes:

[0096] The acquisition module H01 is used to obtain N groups of orthogonal position gyro output values ​​of the fiber optic gyro north finder, and determine N pairs of north-finding solution data to be processed according to the N groups of orthogonal position gyro output values, wherein N is a natural number greater than 1;

[0097] The reorganization module H02 is used to perform cross-pair reorganization on the data to be solved for north finding according to N, and obtain N 2 Calculating the data for the north to be found;

[0098] Verification module H03, used according to N 2 Determine N for the north-finding solution data to be solved 2 north-seeking solution value, and according to the N 2 The north-seeking solution values ​​are subjected to consistency check processing to obtain M north-seeking solution values, wherein: ;

[0099] The processing module H04 is used to perform average processing based on the M north-seeking solution values ​​to obtain the final north-seeking calculation value of the fiber optic gyro north-seeking instrument.

[0100] In addition, the present application also provides a signal processing device. Figure 5 , Figure 5 The structure diagram of the signal processing device involved in the embodiment of the present application is shown in FIG. The device in the embodiment of the present application may be a device for locally running the signal processing method.

[0101] The present application provides a signal processing device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the signal processing device method in the above-mentioned embodiment one.

[0102] Reference below Figure 5 , which shows a schematic diagram of the structure of a signal processing device suitable for implementing an embodiment of the present application. The signal processing device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The signal processing device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0103] like Figure 5 As shown, the signal processing device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the signal processing device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following devices can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the signal processing device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a signal processing device with various devices, it should be understood that it is not required to implement or have all the devices shown. More or fewer devices can be implemented or provided alternatively.

[0104] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0105] The signal processing device provided by the present application adopts the signal processing device method in the above embodiment, which can solve the technical problem of low reliability of the signal processing device. Compared with the prior art, the beneficial effects of the signal processing device provided by the present application are the same as the beneficial effects of the signal processing device method provided by the above embodiment, and other technical features in the signal processing device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0106] In addition, the present application provides a computer-readable storage medium on which a signal processing program is stored, and when the signal processing program is executed by a processor, the steps of the above-mentioned signal processing method are implemented.

[0107] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0108] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0109] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a computer-readable storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0110] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A signal processing method, characterized in that: The signal processing method comprises: Obtaining N groups of orthogonal position gyro output values ​​of a fiber optic gyro north finder, and determining N pairs of north-finding solution data to be processed according to the N groups of orthogonal position gyro output values, wherein N is a natural number greater than 1, and the orthogonal position gyro output values ​​are set to the first position output value, the second position output value, the third position output value, and the fourth position output value of the fiber optic gyro north finder at the first position angle, the second position angle, the third position angle, and the fourth position angle; the first position angle differs from the third position angle by 180°, and the second position angle differs from the fourth position angle by 180°; According to N, the data to be solved for north finding are cross-recombined in pairs to obtain N 2 Calculating the data for the north to be found; According to N 2 Determine N for the north-finding solution data to be solved 2 North-seeking solution value, and according to N 2 The north-seeking solution values ​​are subjected to consistency check processing to obtain M north-seeking solution values, wherein: ; Performing average processing on the M north-seeking solution values ​​to obtain a final north-seeking calculation value of the fiber optic gyro north-seeking instrument; The data to be solved for north finding includes position horizontal axis data and position vertical axis data. The data to be solved for north finding is cross-recombined in pairs according to N to obtain N 2 The data to be solved for north finding include: For each target solution data, the position horizontal axis data in the target solution data is used as the reference horizontal axis data, and N pairs of the position vertical axis data in the to-be-found north solution data are used to construct N pairs of to-be-found north solution data with the same horizontal axis data; for each target solution data, the position vertical axis data in the target solution data is used as the reference vertical axis data, and N pairs of the position horizontal axis data in the to-be-found north solution data are used to construct N pairs of to-be-found north solution data with the same vertical axis data; N pairs of to-be-found north solution data with the same horizontal axis data and N pairs of to-be-found north solution data with the same vertical axis data are obtained. 2 Calculating the data for the north to be found; The step of determining N sets of north-seeking solution data according to the N sets of orthogonal position gyro output values ​​comprises: The N groups of orthogonal position gyro output values ​​are traversed in chronological order, and for each of the orthogonal position gyro output values, the first difference data between the first position output value and the third position output value is used as the horizontal axis data of the position, and the second difference data between the second position output value and the fourth position output value is used as the vertical axis data of the position to construct N pairs of north-seeking solution data.

2. The signal processing method according to claim 1, characterized in that: According to the N 2 The step of performing consistency check on the north-seeking solution values ​​to obtain M north-seeking solution values ​​comprises: In descending order, N 2 The north-seeking solution values ​​are sorted to obtain the sorted N 2 the north-seeking solution values, and the sorted N 2 The maximum value and the minimum value of the north-seeking solution values ​​are deleted from the north-seeking solution values ​​to obtain N 2 -2 north-seeking solution values; According to N 2 -2 north-seeking solution values ​​are averaged to obtain the north-seeking solution mean, and the north-seeking solution mean and N are used to calculate the north-seeking solution. 2 -2 of the north-seeking solution values ​​determine M of the north-seeking solution values.

3. The signal processing method according to claim 2, characterized in that: The north-seeking method is used to calculate the mean value and N 2 The step of determining M north-seeking solution values ​​from -2 north-seeking solution values ​​comprises: Determine the absolute difference between each of the north-seeking solution values ​​and the north-seeking solution mean, and use N 2 The north-seeking solution values ​​whose absolute difference among the -2 north-seeking solution values ​​is greater than the preset maximum allowable north-seeking deviation value are deleted to obtain M north-seeking solution values.

4. A signal processing device, characterized in that: The signal processing device comprises: an acquisition module, used for acquiring N groups of orthogonal position gyro output values ​​of a fiber optic gyro north finder, and determining N pairs of north-seeking solution data to be treated according to the N groups of orthogonal position gyro output values, wherein N is a natural number greater than 1, and the orthogonal position gyro output values ​​are set to the first position output value, the second position output value, the third position output value and the fourth position output value of the fiber optic gyro north finder at the first position angle, the second position angle, the third position angle and the fourth position angle, the first position angle differs from the third position angle by 180°, and the second position angle differs from the fourth position angle by 180°; The reorganization module is used to perform cross-pair reorganization on the data to be solved for north finding according to N, and obtain N 2 For the data to be solved for north finding, the data to be solved for north finding includes position horizontal axis data and position vertical axis data; Verification module, used according to N 2 Determine N for the north-finding solution data to be solved 2 north-seeking solution value, and according to the N 2 The north-seeking solution values ​​are subjected to consistency check processing to obtain M north-seeking solution values, wherein: ; A processing module, used for performing average processing on the M north-seeking solution values ​​to obtain a final north-seeking calculation value of the fiber optic gyro north-seeking instrument; The reorganization module is also used for, for each target solution data, taking the position horizontal axis data in the target solution data as the reference horizontal axis data, and constructing N pairs of the position vertical axis data in the to-be-found north solution data to obtain N pairs of to-be-found north solution data with the same horizontal axis data; for each target solution data, taking the position vertical axis data in the target solution data as the reference vertical axis data, and constructing N pairs of the position horizontal axis data in the to-be-found north solution data to obtain N pairs of to-be-found north solution data with the same vertical axis data; obtaining N pairs of to-be-found north solution data with the same horizontal axis data and N pairs of to-be-found north solution data with the same vertical axis data according to the N pairs of to-be-found north solution data. 2 Calculating the data for the north to be found; The acquisition module is also used to traverse the N groups of orthogonal position gyro output values ​​in chronological order, and for each of the orthogonal position gyro output values, the first difference data between the first position output value and the third position output value is used as the position horizontal axis data, and the second difference data between the second position output value and the fourth position output value is used as the position vertical axis data to construct N pairs of north-seeking solution data.

5. A signal processing device, characterized in that: The signal processing device includes a memory, a processor, and a signal processing program stored in the memory and executable on the processor. When the processor executes the signal processing program, the steps of the signal processing method according to any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a signal processing program, and when the signal processing program is executed by a processor, the steps of the signal processing method according to any one of claims 1 to 3 are implemented.

7. A computer product, characterized in that: The computer product comprises a computer program, which contains computer program code means stored on a computer-readable medium or carrier wave, and the computer program code means is configured to implement the steps of the signal processing method according to any one of claims 1 to 3 when executed by a computer or a processor.

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