用于MEMS陀螺阵列信号处理的OBE平滑算法（英文）

发布时间：2018-01-14 07:36

本文关键词：用于MEMS陀螺阵列信号处理的OBE平滑算法（英文）　出处：《中国惯性技术学报》2017年01期 　论文类型：期刊论文

【摘要】：为提高MEMS陀螺的精度,提出了一种基于最优定界椭球(OBE)的平滑算法,并将其用于陀螺阵列信号的处理。首先,利用多个相同型号的MEMS陀螺构成阵列,测量同一角速率信号,并建立数据融合模型。对于融合问题而言,噪声统计特性的不确定会导致传统融合方法精度下降。为解决该问题,引入仅要求噪声未知但有界的集员估计理论,结合RTS平滑思想,提出一种新的平滑算法作为融合方法,它由前向滤波和反向平滑两个过程构成:前者采用集员估计理论中的OBE滤波估计角速率,后者则逆序执行OBE算法进一步提高估计精度。实验表明:该方法能够将陀螺的静态漂移由0.5130(°)/s降低到0.1368(°)/s;动态条件下,在有效跟踪载体角度变化的同时,将漂移由0.5343(°)/s降低到0.1704(°)/s,显著提高了陀螺的使用精度。
[Abstract]:In order to improve the precision of MEMS gyroscope, a smoothing algorithm based on optimal bounded ellipsoid is proposed and applied to the signal processing of gyroscope array. Several MEMS gyroscopes of the same type are used to form an array, to measure the same angular rate signal, and to establish a data fusion model. The uncertainty of noise statistical characteristics will lead to the decline of the accuracy of traditional fusion methods. To solve this problem, a set member estimation theory, which requires only unknown but bounded noise, is introduced, combined with the idea of RTS smoothing. A new smoothing algorithm is proposed as fusion method, which consists of forward filtering and reverse smoothing. The former uses OBE filter in set member estimation theory to estimate angular rate. The OBE algorithm is executed in reverse order to improve the estimation accuracy. Experiments show that the static drift of gyroscope can be reduced from 0.5130 (掳/ s) to 0.1368 (掳/ s). Under dynamic conditions, the drift is reduced from 0.5343 (掳/ s) to 0.1704 (掳/ s) while the carrier angle is changed effectively. The precision of gyroscope is greatly improved.
【作者单位】：火箭军工程大学控制工程系;
【基金】：国家自然科学基金(61503390,61503392)
【分类号】：TN911.7
【正文快照】： The micro-electrical-mechanical systems(MEMS)gyroscopes have many excellent properties includinglightweight,compact size,low power consumption,lowcost and ease of mass production.Thus they have beenwidely used in various applications[1-2].With recentdeve

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