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为了减小光纤陀螺仪输出信号中的漂移误差,对小波变换和小波包变换进行了理论分析和比较,建立了光纤陀螺仪输出信号的数学模型,分析了其输出信号的误差特性,在详细分析比较硬阈值和软阈值小波滤波的基础上,提出了采用半软阈值作为滤波阈值.并在实验室环境下分别对光纤陀螺静态和动态输出数据进行了半软阈值小波包滤波实验.对光纤陀螺实时测量信号的实验结果表明:采用半软阈值小波包滤波方法对光纤陀螺仪输出数据进行处理,静态和动态输出信号误差均方差可以从5(°) /h减少到1(°) /h,有效地消除了光纤陀螺仪中白噪声和分形噪声的影响.该方法比小波滤波方法更加有效地消除了光纤陀螺漂移误差的影响,且能够满足光纤陀螺仪输出高精度和实时处理的要求.
In order to reduce the drift error in the output signal of fiber optic gyroscope, the wavelet transform and wavelet packet transform are theoretically analyzed and compared. The mathematical model of the output signal of fiber optic gyroscope is established. The error characteristics of the output signal are analyzed. Based on the comparison of the hard threshold and the soft threshold wavelet filtering, the semi-soft threshold is proposed as the filtering threshold, and the semi-soft threshold wavelet packet filtering experiments are carried out on the static and dynamic output data of the FOG in the lab environment respectively. Experimental results of real-time measurement signals show that the error variance of static and dynamic output signals can be reduced from 5 (°) / h to 1 (°) / h using the semi-soft threshold wavelet packet filter to process the output data of fiber optic gyroscope. Effectively eliminating the influence of white noise and fractal noise in fiber optic gyroscope.The method can eliminate the influence of optical fiber gyroscope drift error more effectively than wavelet filter and can meet the requirements of high precision and real-time processing of fiber gyroscope output.