Vondrak滤波在磁悬浮陀螺全站仪数据处理中的应用

磁悬浮陀螺全站仪容易受到外界干扰力矩的影响,采样数据中包含随机性漂移,而这种随机性漂移无法建立数学模型,因此采用不要求建立函数模型的Vondrak滤波对陀螺数据进行处理; 并在西安地区建立一条高精度天文基准线,在此基准线上反复进行8次测回的陀螺方位角测量试验,对每一测回的40 000组第1、2位置寻北力矩进行Vondrak滤波平滑处理。结果表明:Vondrak滤波平滑处理后,数据序列的毛刺减少,平滑数据序列能够反映出磁悬浮陀螺全站仪寻北力矩的变化趋势; 与原始数据相比,Vondrak滤波平滑处理结果的均方根明显减小,数据更为集中; Vondrak滤波能够有效消除磁悬浮陀螺全站仪的随机性漂移影响,提高真北方位角的测定精度,在最大程度上滤除干扰成分, 保留有用信息。

Application of Vondrak Filter in Data Processing of Magnetic Suspension Gyro-total-station

Magnetic suspension gyro-total-station was vulnerable to external perturbed moment, sampling data included random drift, and the mathematical model could not be established because of the random drift, so that Vondrak Filter, which did not build functional model, was used to process the gyro data; a high-precision astronomical baseline was established in Xi'an, the measurements on gyro azimuth based on the baseline were tested with 8 observation sets, and 40 000 groups of north-seeking torques at the first place and the second place for each observation set were processed and smoothed by the means of Vondrak Filter. The results showed that the burrs of data sequence after smoothing with Vondrak Filter were reduced, and the data sequence could reflect the accuracy of north-seeking torque of magnetic suspension gyro-total-station; compared with the raw data, the root mean squares of data smoothed with Vondrak Filter decreased significantly, and data were concentrated; Vondrak Filter could effectively weaken the random drift of magnetic suspension gyro-total-station, improve the accuracy of true north azimuth, eliminate the perturbed information and keep the useful information as far as possible.