Application of linear accelerometer to Kalman filter for piezoelectric gyro
-
摘要: 针对光电稳定平台常用的压电陀螺随机游走噪声大的缺点,提出采用基于线性加速度计的卡尔曼滤波技术对其进行信号滤波。利用卡尔曼滤波理论,建立了压电陀螺角速率状态观测方程,采用线性加速度计测量平台惯性角加速度,由此对陀螺信号进行了滤波。实验结果表明:采用线性加速度计能够在不影响陀螺带宽的前提下将压电陀螺的随机游走噪声水平由原有的0.005()s-1/ Hz 降低到0.001 25()s-1/ Hz ,提高了光电平台的稳定精度。Abstract: As for the larger random walk noise of a piezoelectric gyro in the stabilized platform, the Kalman filtering technology based on a linear accelerometer is proposed to perform the signal filtering. Based on Kalman filtering theory, the observation equation of an angle rate for the piezoelectric gyro is established, and the linear accelerometer is used to measure the inertial angle accelaration of the platform. Then, the signal filtering of piezoelectric gyro is achieved. Experimental results show that the random walk noise level is reduced from 0.005()s-1/ Hz to 0.001 25()s-1/ Hz by using linear accelerometers and without affecting the bandwidth of piezoelectric gyro, which improves the stability precision of the optoelectronic platform.
-
[1] MYUNG H,LEE H K,CHOI K,et al.. Constrained Kalman filter for mobile robot localization with gyroscope . Intelligent Robots and Systems,2006 IEEE/RSJ International Conference on,Beijing,China,9-15 Oct.,2006:442-447. [2] 毕永利. 多框架光电平台控制系统研究 . 北京:中国科学院研究生院 ,2003. BI Y L. Study on control system of multi-frame photoelectric platform . Beijing:Graduate University of Chinese Academy of Sciences,2003.(in Chinese) [3] ALMAGBILE A,WANG J L,DING W D. Evaluating the performances of adaptive Kalman filter methods in GPS/INS integration[J]. J. Global Positioning Systems,2010(9):33-40. [4] 王江安,庄奕琪,周淇军,等. 利用改进卡尔曼滤波算法抑制GPS接收相位噪声[J]. 数据采集与处理 ,2010(5):611-614. WANG J A,ZHUANG Y Q,ZHOU Q J,et al.. The application of Kalman filter in the suppression of GPS receiving phase noise[J]. Data Acquisition and Processing,2010(5):611-614.(in Chinese) [5] 潘博文. 卡尔曼滤波算法在相对导航中的应用[J]. 现代导航 ,2010(4):15-18. PAN B W. The application of Kalman filter in the relative navigation[J]. Modern Navigation,2010(4):15-18.(in Chinese) [6] 赵延. 机动目标自适应卡尔曼滤波算法研究 . 西安:电子科技大学 ,2004. ZHAO Y. Study on adaptive Kalman filter for the maneuvering target . Xi'an:University of Electronic Science and Technology of China,2004.(in Chinese) -
计量
- 文章访问数: 3512
- HTML全文浏览量: 424
- PDF下载量: 1213
- 被引次数: 0
下载:
