基于小波去噪和 TLS 算法的全姿态寻北

摘要

为提高捷联寻北仪在动态干扰下的寻北精度，同时解决寻北过程中需要人工调平而耗时较长的问题，结合全姿态多位置寻北模型，提出采用小波去噪处理陀螺输出信号和总体最小二乘寻北算法的组合滤波方法。针对硬阈值函数和软阈值函数去噪的局限性，使用改进阈值函数处理陀螺噪声，能够更好滤掉动态干扰；根据多位置寻北解算特点，创新性引入总体最小二乘寻北算法，有效补偿了寻北仪的静态误差。仿真数据和实验结果表明，该组合算法能显著提高寻北仪的抗干扰能力，实现全姿态高精度寻北。%To improve the precision of north finder under the dynamic interference and solve the problem of north-seeking that need artificial leveling and time-consuming issue,combined with the multi-position find north model,north algorithm combination is adopted by using wavelet denoising processing gyro output signal and to-tal least squares filtering method.In view of the limitation of hard and soft threshold denoising function,the im-proved threshold function can better filtrate dynamical interference.According to characteristics of multi-position north finder,static error is effectively compensated by introducing total least squares to find north.The results of simulations and datum of experiments show that the combination algorithm can significantly improve the anti-interference ability of north finder,and realize high precision seeking north in whole attitude.