摘要
针对某小型水下航行体深度传感信号受环境影响,产生的零位、线性度漂移,以及现场校准困难等问题,提出一种集成软硬件加纯软件的传感信号处理改进方法。该方法以嵌入式处理器和数字电位器为主,利用高阶低阻值的数字电位器进行仪表运算放大器增益和零位调整。结合相应处理算法,不仅可自动实现个体差异较大的深度传感器输出信号自适应调理,使其线性放大输出区间稳定,亦具备可扩展的数字输出,实时内部记录及便捷现场校准等功能。该方法搭载某小型水下航行体联调测试,可将其不同批次深度传感器输出信号调整至1~5 V范围内线性输出,解决不同深度传感器个体差异带来的后置处理输出线性区间不一致问题。同时,采用的硬件调零方式,也避免了常规软件调零方式带来的调整范围受限,甚至超出传感器线性区带来更大误差等问题。经实航测试,该方法在某内陆湖约100 m水深下,其实航深度测量精度可提高约2.2 m。
In order to solve the problems of zero position, linearity drift and field calibration difficulty caused by the environmental impact of the depth sensing signal of a small underwater vehicle, an improved sensing signal processing method integrating software and hardware with pure software is proposed. This method is mainly based on embedded processor and digital potentiometer, and uses high-order low resistance digital potentiometer to adjust the gain and zero position of operational amplifier. Combined with the corresponding algorithm, it can not only automatically realize the adaptive adjustment of the output signal of the depth sensor with large individual differences, making its linear amplification output range stable, but also has the functions of scalable digital output, real-time internal recording and convenient on-site calibration. The output signals of different batches of depth sensors can be adjusted to linear output in the range of 1~5 V, so as to solve the problem of inconsistent linear interval of post-processing output caused by individual differences of different depth sensors. At the same time, the hardware zeroing method also avoids the limitation of the adjustment range caused by the conventional software zeroing method, and even greater error caused by exceeding the linear region of the sensor. The actual navigation test shows that the accuracy of the method can be improved by about 2.2 m under the water depth of about 100 m in an inland lake.
作者
张庆国
Zhang Qingguo(Kunming Shipborne Equipment Research&Test Center,Kunming 650051,China)
出处
《电子测量技术》
北大核心
2021年第12期161-167,共7页
Electronic Measurement Technology
基金
国防基础性科研院所稳定支持项目(110042019003)资助。
关键词
水下航行体
航行深度
压力传感器
信号处理
方法改进
硬件调零
自动校准
underwater vehicle
navigation depth
pressure sensor
signal processing
method improvement
hardware zeroing
auto calibration
