| 基于优化卡尔曼滤波的虚拟陀螺技术研究 |
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| 引用本文： | 陈慧.基于优化卡尔曼滤波的虚拟陀螺技术研究[J].大地测量与地球动力学,2017,37(1):102-105. |
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| 作者姓名： | 陈慧 |
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| 摘 要： | 为提高MEMS陀螺的测量精度，满足MEMS陀螺广泛的应用需求，建立了单个MEMS陀螺的AR模型和输出模型。基于这2个模型，构造虚拟陀螺的状态空间方程和量测方程，设计了卡尔曼滤波器对多个陀螺的输出进行融合。为提高数据处理的实时性，对卡尔曼滤波器进行优化，减小数据处理周期，并通过恒速实验和摇摆实验验证此数据融合方法的有效性。实验结果表明，虚拟陀螺技术相对于单个陀螺，在恒速实验中精度提高了18.18倍，在摇摆实验中精度提高了5.36倍。
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| 关 键 词： | MEMS陀螺 AR模型 虚拟陀螺技术 数据融合 |
Virtual Gyroscope Technology Based on Optimization of Kalman Filter |
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| CHEN Hui.Virtual Gyroscope Technology Based on Optimization of Kalman Filter[J].Journal of Geodesy and Geodynamics,2017,37(1):102-105. |
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| Authors: | CHEN Hui |
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| Abstract: | In order to improve the accuracy of MEMS gyro and to meet wide application requirements, an automatic regressive model (AR model) and output model of single MEMS gyro are established. Based on the two models, the state space equation and measurement equation of virtual gyroscope are found. A Kalman filter to combine outputs of gyro array is designed, and to enhance real-time ability, a novel Kalman filter is also constructed. Constant-rate and angular vibration experiments are carried out to verify the validity of the data-combining approach. The results indicate that relative to single gyro, the virtual gyro’s accuracy can increase 18.18 times in the constant-rate experiment and 5.36 times in the angular vibration experiment. |
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| Keywords: | MEMS gyroscope AR model virtual gyroscope technology data-combine |
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