CN109764951A - The vibration coupling noise elimination apparatus of vibration velocity vector hydrophone on a kind of mooring mine platform - Google Patents
The vibration coupling noise elimination apparatus of vibration velocity vector hydrophone on a kind of mooring mine platform Download PDFInfo
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Abstract
The present invention provides a kind of vibration coupling noise elimination apparatus of vibration velocity vector hydrophone on mooring mine platform, the vibration noise of mooring mine platform itself is collected by the vibration-measuring sensor installed on mooring mine platform, the frequency of vibration noise is obtained by frequency abstraction circuit, using the frequency of the vibration noise as the cutoff frequency of notch filter circuit, the vibration noise of the mooring mine platform in coupled transfer to vibration velocity vector hydrophone is filtered to eliminate influence of the vibration noise to underwater sound signal of mooring mine platform；It can be seen that, the configuration of the present invention is simple, the vibration noise frequency range of covering is wider, and the vibration and noise signals without obtaining mooring mine platform in advance pass through the transmission function or corresponding relationship in suspension arrangement coupled transfer to vibration velocity vector hydrophone, in terms of response speed and real-time advantageously, it is suitable for large-scale and complex mooring mine platform.
Description
Technical field
The invention belongs to a kind of vibration couplings of vibration velocity vector hydrophone in submarine mine technical field more particularly to mooring mine platform
Noise elimination apparatus.
Background technique
When vibration velocity vector hydrophone is installed on mooring mine underwater platform, underwater mooring mine platform by water flows such as tide, ocean currents outside
Power effect, generates periodic vibration, and this vibration is transmitted to vibration velocity vector by the suspension arrangement coupling of vibration velocity vector hydrophone
The sensitive pickup system of hydrophone forms interference signal, and the signal frequency of the interference noise of this coupling conduction is constant, only
There is variation, reception of this interference effect vibration velocity vector hydrophone to underwater acoustic field signal on amplitude response.
Such issues that solve, a kind of method are that vibration isolation decoupling member is installed between vibration velocity vector hydrophone and anchor system platform
Part avoids the vibration noise on mounting platform from being transmitted on vibration velocity vector hydrophone；Another method is in anchor system platform
Vibrating sensor is installed in portion, and the vibration signal of real-time detection anchor system platform goes to offset coupling using the synchronous vibration signal detected
Close the vibration noise on vibration velocity vector hydrophone.For first method, due to the damping material itself of vibration isolation decoupling element
Limitation, operating frequency range are limited, it is difficult to realize vibration isolation, the damping in broadband；Second method can listen vibration velocity vector water
Difference processing is done between device output signal and the Platform Vibration synchronization signal measured, but this needs to obtain the vibration of anchor system platform in advance
Otherwise dynamic signal offsets effect by transmission function or corresponding relationship in suspension arrangement coupled transfer to vibration velocity vector hydrophone
Fruit is restricted, and this concrete operations in large-scale, complex platform is implemented in the presence of very big difficulty.
Summary of the invention
To solve the above problems, the vibration coupling noise that the present invention provides vibration velocity vector hydrophone on a kind of mooring mine platform disappears
Except device, influence of the vibration noise to underwater sound signal of mooring mine platform can be eliminated, is suitable for large-scale and complex mooring mine platform.
The vibration coupling noise elimination apparatus of vibration velocity vector hydrophone on a kind of mooring mine platform, including vibration velocity vector water are listened
Device, vibration-measuring sensor, frequency abstraction circuit and notch filter circuit；
The vibration velocity vector hydrophone is used to obtain the vibration noise including underwater acoustic field signal and the mooring mine platform
Underwater sound signal, and underwater sound signal is converted into electric signal and is sent into the notch filter circuit；
The vibration-measuring sensor is mounted on the mooring mine platform, for obtaining the vibration noise of mooring mine platform；
The frequency abstraction circuit is used to the vibration noise being converted to rectangle square-wave signal, wherein the rectangle side
The frequency of wave signal is the frequency of the vibration noise；
The notch filter circuit is used to extract the frequency of the vibration noise according to the rectangle square-wave signal, then will
The frequency of the vibration noise filters out the vibration noise in the electric signal as cutoff frequency.
Further, the notch filter circuit includes switch capacitor filter chip MAX7490, operational amplifier
MAX4281, resistance R2~R4 and resistance RL, RH, RG；Wherein, the resistance value of resistance R2 is 1,000,000 times of the resistance value of resistance R4,
The resistance value of resistance RH is 10,000 times of the resistance value of resistance RG；
The inverting input terminal INVA of the switch capacitor filter chip MAX7490 accesses the electric signal, clock input
CLK is held to access the rectangle square-wave signal；The adjustment end of the one end resistance R2 connection switch capacitive filter chip MAX7490
NA/HPA, the other end connect inverting input terminal INVA；The one end resistance R3 connection switch capacitive filter chip MAX7490's
Band logical input terminal BPA, the other end connect inverting input terminal INVA；The one end resistance R4 connection switch capacitive filter chip
The low pass output end LPA of MAX7490, the other end connect inverting input terminal INVA；
The resistance RL mono- terminates the low pass output end LPA of switch capacitor filter chip MAX7490, another termination operation
The input negative terminal IN- of amplifier MAX4281；The resistance RH mono- terminates the adjustment end of switch capacitor filter chip MAX7490
NA/HPA, another input negative terminal IN- for meeting operational amplifier MAX4281；The one end the resistance RG connects operational amplifier
The input negative terminal IN- of MAX4281, the other end connect the output end OUT of operational amplifier MAX4281；The operational amplifier
The output end OUT of MAX4281 is for exporting the electric signal after filtering out the vibration noise.
Further, on a kind of mooring mine platform vibration velocity vector hydrophone vibration coupling noise elimination apparatus, further include electricity
Hinder R1；
The electric signal accesses inverting input terminal INVA by resistance R1.
Further, the frequency abstraction circuit includes comparator, the first phase inverter and the second phase inverter；
The non-inverting input terminal of the comparator accesses the vibration noise, and inverting input terminal accesses predetermined threshold value, positive electricity
Source connects high level, negative supply ground connection, and output end connects the input terminal of the first phase inverter；Wherein, when the voltage of the vibration noise
When value is greater than predetermined threshold value, comparator exports high level, when the voltage value of the vibration noise is not more than predetermined threshold value,
Comparator exports low level, to obtain square-wave signal；
The square-wave signal sequentially inputs the first phase inverter and the second phase inverter carries out shaping, exports square from the second phase inverter
Shape square-wave signal.
Further, the setting orientation of the predetermined threshold value are as follows:
Under conditions of meeting the seabed flow velocity and sea situation grade of set environment adaptive criteria, by the vibration-measuring sensor
The amplitude average value of the vibration noise of acquisition is as the predetermined threshold value.
The utility model has the advantages that
The present invention provides a kind of vibration coupling noise elimination apparatus of vibration velocity vector hydrophone on mooring mine platform, passes through mooring mine
The vibration-measuring sensor installed on platform collects the vibration noise of mooring mine platform itself, obtains vibration by frequency abstraction circuit and makes an uproar
The frequency of sound, using the frequency of the vibration noise as the cutoff frequency of notch filter circuit, by coupled transfer to vibration velocity vector
The vibration noise of mooring mine platform on hydrophone is filtered to eliminate the vibration noise of mooring mine platform to underwater sound signal
Influence；It can be seen that the configuration of the present invention is simple, the vibration noise frequency range of covering is wider, and without obtaining mooring mine in advance
The vibration and noise signals of platform are by the transmission function in suspension arrangement coupled transfer to vibration velocity vector hydrophone or correspond to pass
System in terms of response speed and real-time is advantageously suitable for large-scale and complex mooring mine platform.
Detailed description of the invention
Fig. 1 is the vibration coupling noise elimination apparatus of vibration velocity vector hydrophone on a kind of mooring mine platform provided by the invention
Functional block diagram；
Fig. 2 is the schematic diagram of frequency abstraction circuit and notch filter circuit provided by the invention.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described.
Embodiment one
Referring to Fig. 1, which is that the vibration coupling of vibration velocity vector hydrophone on a kind of mooring mine platform provided in this embodiment is made an uproar
The functional block diagram of sound cancellation element.
The vibration coupling noise elimination apparatus of vibration velocity vector hydrophone on a kind of mooring mine platform, including vibration velocity vector water are listened
Device, vibration-measuring sensor, frequency abstraction circuit and notch filter circuit；
Underwater sound signal is converted to electric signal and is sent into described fall by the vibration velocity vector hydrophone for obtaining underwater sound signal
Wave filter circuit, wherein the underwater sound signal includes the vibration noise of underwater acoustic field signal and the mooring mine platform；
The vibration-measuring sensor is mounted on the mooring mine platform, for obtaining the vibration noise of the mooring mine platform；
The frequency abstraction circuit is used to the vibration noise being converted to rectangle square-wave signal, wherein the rectangle side
The frequency of wave signal is the frequency of the vibration noise；
The notch filter circuit is used to extract the frequency of the vibration noise according to the rectangle square-wave signal, then will
The frequency of the vibration noise filters out the vibration noise in the electric signal as cutoff frequency.
It should be noted that the vibration-measuring sensor being installed on mooring mine platform is selected with sensitive inside vibration velocity vector hydrophone
The identical polarimetric element of element function parameter (working frequency range, sensitivity response) and adapter circuit.
It should be noted that vibration velocity vector hydrophone is installed on mooring mine platform, the effect of mooring mine platform fluid under water
Lower generation periodically vibration or disturbance, this vibration or disturbance are arrived by the suspension arrangement coupled transfer of vibration velocity vector hydrophone
On the sensitive pick-up original part of vibration velocity vector hydrophone, noise jamming is formed, and the signal frequency of this coupling conducted noise is not
Become, only there is variation on amplitude response.
It therefore, include the vibration of useful underwater acoustic field signal Yu mooring mine platform in the output signal of vibration velocity vector hydrophone
Noise, after the two is by controllably falling into resistance filter, due to controllably falling into resistance filter under the control of external frequency information, band resistance is fallen into
Wave cutoff frequency is arranged near the signal frequency of the vibration noise, and therefore, the vibration noise of mooring mine platform is adaptively filtered
Wave；And the Platform Vibration that the foreign frequency information for falling into resistance filter is measured from the vibration-measuring sensor being mounted on mooring mine platform
Signal, Platform Vibration signal obtain after frequency abstraction processing of circuit.
Embodiment two
Based on above embodiments, the present embodiment describes to frequency abstraction circuit and notch filter circuit in detail.Referring to
Fig. 2, the figure are the schematic diagram of frequency abstraction circuit and notch filter circuit provided in this embodiment.
Notch filter circuit is introduced first below.The notch filter circuit includes switch capacitor filter chip, operation
Amplifier, resistance R1~R4 and resistance RL, RH, RG；Wherein, the resistance value of resistance R2 is 1,000,000 times of the resistance value of resistance R4, electricity
10,000 times of the resistance value that the resistance value for hindering RH is resistance RG；
After the inverting input terminal INVA series resistance R1 of the switch capacitor filter chip MAX7490, the electricity is accessed
Signal；The adjustment end NA/HPA of the one end resistance R2 connection switch capacitive filter chip MAX7490, the other end connect reverse phase
Input terminal INVA；The band logical input terminal BPA of the one end resistance R3 connection switch capacitive filter chip MAX7490, the other end
Connect inverting input terminal INVA；The low pass output end of the one end resistance R4 connection switch capacitive filter chip MAX7490
LPA, the other end connect inverting input terminal INVA；The voltage signal inputs SA of the switch capacitor filter chip MAX7490
It is grounded with common ground end COM, powers on enable endIt connects with power end VDD and is followed by high level, ground terminal GND connects external electrical
Source cathode, external clock control terminal EXTCLK connect external power supply anode, and input end of clock CLK accesses the rectangle square-wave signal；
The resistance RL mono- terminates the low pass output end LPA of switch capacitor filter chip MAX7490, another termination operation
The input negative terminal IN- of the MAX4281 of amplifier；The resistance RH mono- terminates the adjustment of switch capacitor filter chip MAX7490
Hold NA/HPA, another input negative terminal IN- for meeting operational amplifier MAX4281；The one end the resistance RG connects operation amplifier
The input negative terminal IN- of device MAX4281, the other end connect the output end OUT of operational amplifier MAX4281；The operational amplifier
The input anode IN+ of MAX4281 is grounded, and positive supply input terminal VCC connects high level, and output end OUT filters out the vibration for exporting
Electric signal after moving noise.
It should be noted that as shown in Fig. 2, by switch capacitor filter chip MAX7490 and operational amplifier
MAX4281 and peripheral resistance constitute and have low-pass filtering and the sunken resistance filter with resistance trap (notch filter) dual function concurrently
Wave device；Wherein, the switch capacitor filter chip MAX7490 is as rejection trap, for filtering out the vibration in underwater sound signal
Moving noise, and operational amplifier MAX4281 is as low-pass filter, for further eliminating the underwater sound after having filtered out vibration noise
High-frequency noise in signal, underwater sound signal after preventing from filtering out vibration noise are sampled etc. in processing in subsequent AD, are mixed
Phenomenon.
Specifically, passing through first after notch filter circuit receives the electric signal transmitted of vibration velocity vector hydrophone
Current-limiting resistance R1 is introduced into switch capacitor filter chip MAX7490, after filtering out Platform Vibration noise, using MAX7490's
Pin 1 (low pass output end LPA) and pin 3 (adjustment end NA/HPA) output, by resistance RL and RH, are input to low pass filtered jointly
The input pin 4 (input negative terminal IN-) of wave device MAX4281, after periphery adjusts resistance RG, by 1 (output end of output pin
OUT it) exports.
It should be noted that R1 is current-limiting resistance, for adjusting the input current of electric signal input chip MAX7490, drop
The electric current of low input-signal；Simultaneously because chip MAX7490 is internally provided with the functional circuits such as multiple filters, need using electricity
Resistance R3 cascades up the front stage filter inside chip MAX7490, just can guarantee the normal work of chip MAX7490,
In, the quality factor of the adjustable rejection trap of resistance R3；The periphery adjustment resistance that resistance RL and RH are chip MAX4281,
Parameter of the MAX4281 as low-pass filter can be changed；Resistance RG is feedback resistance, for feeding back after adjusting output signal
Return the input pin 4 (input negative terminal IN-) of MAX4281, wherein output signal is the letter for having filtered out the vibration noise in electric signal
Number, then by adjusting the resistance value of RG, the depth of adjustable feedback improves stability of the MAX4281 as low-pass filter, drop
The low self-oscillatory probability of low-pass filter.
Further, the cutoff frequency F of low-pass filter MAX4281HBy switch capacitor filter chip MAX7490 pin
The reference frequency f of 9 inputsclkIt is determined with the value of resistance R2, R4, wherein reference frequency fclkThe as frequency of vibration noise, also
For the frequency of rectangle square-wave signal:
10M ohm are taken according to the general requirement of signal processing and empirical value, the resistance value of resistance R2, the resistance value of resistance R4 takes 10
When ohm, the i.e. resistance value of resistance R2 are 1,000,000 times of the resistance value of resistance R4, the cutoff frequency F of low-pass filter MAX4281HAre as follows:
FH=10fclk
Likewise, the cutoff frequency F of rejection trap MAX74900By reference frequency fclkIt determines with the value of resistance RH, RG
It is fixed:
Here enabling resistance RH is 10M ohm, and resistance RG is 1K ohm, i.e., the resistance value of resistance RH is the 1 of the resistance value of resistance RG
At ten thousand times, the cutoff frequency F of rejection trap MAX74900Are as follows:
F0=fclk
That is, rejection trap MAX7490 is used and reference frequency fclkIdentical frequency is as cutoff frequency F0,
Wherein, reference frequency fclkFor the frequency of mooring mine Platform Vibration noise, then electric signal is after chip MAX7490, in electric signal
Vibration noise is filtered out, and then enters back into low-pass filter MAX4281, cutoff frequency FH=10fclk, then vibration has been filtered out
In the electric signal of noise, it is higher than reference frequency fclk10 times of frequency is filtered out.
Further, the quality factor q of notch filter circuit are as follows:
Here resistance R3 is 100K ohm, then the value of quality factor q is just 10；Wherein, quality factor q is bigger, shows to fall into
The resolution capability of wave filter circuit is higher.
The vibration noise input N5 of the vibration-measuring sensor output signal installed on underwater mooring mine platform, i.e. mooring mine platform compares
The signal input tube foot 7 of device LM339, under the comparison of pre-determined threshold voltage value (pin 6 of LM339), output signal transformation side
Wave signal, at this time the frequency f of signal0It is constant, and amplitude becomes 5 volts, i.e. the amplitude information of original signal is ignored；Comparator
The square-wave signal of output passes through two-stage phase inverter SN54HC14J, and signal obtains shaping, is changed into regular rectangle square-wave signal.
Rectangle square-wave signal after shaping is input to the pin 9 of switch capacitor filter chip MAX7490, as reference
Frequency signal then has at this time:
f0=fclk=F0
That is, platform vibration-measuring sensor exports periodic signal frequency f0Directly as the reference signal frequency of sunken resistance filter circuit
Rate, and with resistance trap cutoff frequency F0It is identical.In this way, the output signal of vibration velocity vector hydrophone is by falling into resistance filtered electrical
The vibration noise of Lu Hou, platform coupling therein are filtered, and achieve the purpose that adaptive-filtering.
It can be seen that the present invention is directly handled analog signal using analog filter, without Digital Signal Processing
In the processes such as discretization, sampling, storage, digital operation, in terms of response speed and real-time advantageously.
Start that frequency abstraction circuit is discussed in detail below.The frequency abstraction circuit include comparator, the first phase inverter with
And second phase inverter；
The non-inverting input terminal of the comparator accesses the vibration noise, and inverting input terminal accesses predetermined threshold value, positive electricity
Source connects high level, negative supply ground connection, and output end connects the input terminal of the first phase inverter；Wherein, when the voltage of the vibration noise
When value is greater than predetermined threshold value, comparator exports high level, when the voltage value of the vibration noise is not more than predetermined threshold value,
Comparator exports low level, to obtain square-wave signal；
The square-wave signal sequentially inputs the first phase inverter and the second phase inverter carries out shaping, exports square from the second phase inverter
Shape square-wave signal.
Further, the setting orientation of the predetermined threshold value are as follows:
Under conditions of meeting the seabed flow velocity and sea situation grade of set environment adaptive criteria, by the vibration-measuring sensor
The amplitude average value of the vibration noise of acquisition is as the predetermined threshold value.
It should be noted that the periodic noise signal of mooring mine Platform Vibration is changed into square-wave signal after comparator,
The frequency information f of vibration noise therein0Retained, and amplitude difference is ignored.Square-wave signal after two phase inverters,
Signal obtains shaping, further becomes regular rectangle square wave, and signal frequency is still f0。
The course of work of vibration coupling noise elimination apparatus provided in this embodiment is as follows:
Mooring mine platform generates periodically vibration or disturbance, the survey being mounted on mooring mine platform under the action of fluid under water
Vibration sensor measures Platform Vibration noise signal, periodic noise signal (the signal period f of Platform Vibration0Inverse) pass through
It is changed into square-wave signal after comparator, for square-wave signal after two-stage phase inverter, signal obtains shaping, further becomes regular
Rectangle square wave, signal frequency are set as f0；
Rectangle square-wave signal after shaping is input to switch capacitor filter chip as reference frequency signal, platform is surveyed
Vibration sensor exports periodic signal frequency f0Directly as the reference signal frequency of sunken resistance filter, and and notch filter
Cutoff frequency F0It is identical.In this way, the output signal of vibration velocity vector hydrophone, after bandstop filter, platform therein couples
Vibration noise be filtered, achieve the purpose that adaptive-filtering.
Certainly, the invention may also have other embodiments, without deviating from the spirit and substance of the present invention, ripe
Various corresponding changes and modifications can be made according to the present invention certainly by knowing those skilled in the art, but these it is corresponding change and
Deformation all should fall within the scope of protection of the appended claims of the present invention.
Claims (5)
1. the vibration coupling noise elimination apparatus of vibration velocity vector hydrophone on a kind of mooring mine platform, which is characterized in that including vibration velocity
Vector hydrophone, vibration-measuring sensor, frequency abstraction circuit and notch filter circuit；
The vibration velocity vector hydrophone is used to obtain the underwater sound of the vibration noise including underwater acoustic field signal and the mooring mine platform
Signal, and underwater sound signal is converted into electric signal and is sent into the notch filter circuit；
The vibration-measuring sensor is mounted on the mooring mine platform, for obtaining the vibration noise of mooring mine platform；
The frequency abstraction circuit is used to the vibration noise being converted to rectangle square-wave signal, wherein the rectangle square wave letter
Number frequency be the vibration noise frequency；
The notch filter circuit is used to extract the frequency of the vibration noise according to the rectangle square-wave signal, then will be described
The frequency of vibration noise filters out the vibration noise in the electric signal as cutoff frequency.
2. the vibration coupling noise elimination apparatus of vibration velocity vector hydrophone on a kind of mooring mine platform as described in claim 1,
It is characterized in that, the notch filter circuit includes switch capacitor filter chip MAX7490, operational amplifier MAX4281, resistance
R2~R4 and resistance RL, RH, RG；Wherein, the resistance value of resistance R2 is 1,000,000 times of the resistance value of resistance R4, the resistance value of resistance RH
It is 10,000 times of the resistance value of resistance RG；
The inverting input terminal INVA of the switch capacitor filter chip MAX7490 accesses the electric signal, input end of clock CLK
Access the rectangle square-wave signal；The adjustment end NA/ of the one end resistance R2 connection switch capacitive filter chip MAX7490
HPA, the other end connect inverting input terminal INVA；The band of the one end resistance R3 connection switch capacitive filter chip MAX7490
Logical input terminal BPA, the other end connect inverting input terminal INVA；The one end resistance R4 connection switch capacitive filter chip
The low pass output end LPA of MAX7490, the other end connect inverting input terminal INVA；
The resistance RL mono- terminates the low pass output end LPA of switch capacitor filter chip MAX7490, another termination operation amplifier
The input negative terminal IN- of device MAX4281；The resistance RH mono- terminates the adjustment end NA/ of switch capacitor filter chip MAX7490
HPA, another input negative terminal IN- for meeting operational amplifier MAX4281；The one end the resistance RG connects operational amplifier
The input negative terminal IN- of MAX4281, the other end connect the output end OUT of operational amplifier MAX4281；The operational amplifier
The output end OUT of MAX4281 is for exporting the electric signal after filtering out the vibration noise.
3. the vibration coupling noise elimination apparatus of vibration velocity vector hydrophone on a kind of mooring mine platform as claimed in claim 2,
It is characterized in that, further includes resistance R1；
The electric signal accesses inverting input terminal INVA by resistance R1.
4. the vibration coupling noise elimination apparatus of vibration velocity vector hydrophone on a kind of mooring mine platform as described in claim 1,
It is characterized in that, the frequency abstraction circuit includes comparator, the first phase inverter and the second phase inverter；
The non-inverting input terminal of the comparator accesses the vibration noise, and inverting input terminal accesses predetermined threshold value, and positive supply connects
High level, negative supply ground connection, output end connect the input terminal of the first phase inverter；Wherein, when the voltage value of the vibration noise is big
When predetermined threshold value, comparator exports high level, when the voltage value of the vibration noise is not more than predetermined threshold value, compares
Device exports low level, to obtain square-wave signal；
The square-wave signal sequentially inputs the first phase inverter and the second phase inverter carries out shaping, exports rectangle side from the second phase inverter
Wave signal.
5. the vibration coupling noise elimination apparatus of vibration velocity vector hydrophone on a kind of mooring mine platform as described in claim 1,
It is characterized in that, the setting orientation of the predetermined threshold value are as follows:
Under conditions of meeting the seabed flow velocity and sea situation grade of set environment adaptive criteria, the vibration-measuring sensor is obtained
Vibration noise amplitude average value as the predetermined threshold value.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110376984A (en) * | 2019-07-15 | 2019-10-25 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Adaptive vibration noise control management system |
| CN115064147A (en) * | 2022-04-27 | 2022-09-16 | 哈尔滨工程大学 | Method and system for adaptive cancellation of vibration and noise of unmanned aerial vehicle platform |
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| CN115064147A (en) * | 2022-04-27 | 2022-09-16 | 哈尔滨工程大学 | Method and system for adaptive cancellation of vibration and noise of unmanned aerial vehicle platform |
| CN115064147B (en) * | 2022-04-27 | 2023-07-28 | 哈尔滨工程大学 | Self-adaptive cancellation method and system for vibration noise of unmanned mobile platform |
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