基于卡尔曼滤波的陀螺仪阵列技术研究

刘明雍;朱立;董海霞

兵工学报 ›› 2016, Vol. 37 ›› Issue (2) : 272-278.

EN 投稿 期刊 文章 图表 检索
高级检索

  • 主管：中国科学技术协会

    主编：许毅达

    ISSN 1000-1093

    　

  • 主办：中国兵工学会

    出版：《兵工学报》 编辑部

    CN 11-2176/TJ

《兵工学报》是我国国防科技领域最具影响力的学术期刊之一，创刊于1979年，目前被国内所有重要数据库收录，其综合评价指标近年来一直名列兵工技术类科技期刊的首位；《兵工学报》目前还被国际上著名的检索机构美国......
兵工学报 ›› 2016, Vol. 37 ›› Issue (2) : 272-278. DOI: 10.3969/j.issn.1000-1093.2016.02.012
论文

基于卡尔曼滤波的陀螺仪阵列技术研究

  • 刘明雍，朱立，董海霞
作者信息 +

Research on Gyroscope Array Based on Kalman Filter

  • LIU Ming-yong, ZHU Li, DONG Hai-xia
Author information +
文章历史 +

摘要

多个相同型号的陀螺仪测量轴相互平行，测量同一个角速度信号所组成的阵列叫做陀螺阵列。通过研究陀螺阵列提高惯性测量精度的信息处理算法，建立单个微机电（MEMS）陀螺仪的两种不同漂移模型，利用Allan方差对漂移系数进行辨识，将辨识出的随机漂移系数应用于卡尔曼滤波。通过卡尔曼滤波将陀螺阵列的信息融合为一个较高精度的输出，证明了卡尔曼滤波的稳定性。通过实验对比了不同建模方法的优劣，并且验证了基于卡尔曼滤波的信息融合方法可以有效提高MEMS陀螺仪的精度。

Abstract

The same type of measurement axes of gyroscope are parallel to each other. The information processing algorithms to improve the accuracy of inertial measurement via gyroscope array are researched. Two different drift models of single MEMS gyroscope are established, and the random drift coefficients are identified via Allan variance. Then the identified random drift coefficients are used for Kalman filter, and the muti-gyroscopes information is fused to acquire a highly precise output of gyroscope array through Kalman filter. The result proves the stability of Kalman filter. Finally, the advantages and disadvantages of different modeling methods are compared by experiment. The experimental results show that the accuracy of MEMS gyroscope can be improved effectively by the information fusion method based on Kalman filter.

关键词

控制科学与技术 / 陀螺仪阵列 / 信息融合 / 卡尔曼滤波

Key words

control science and technology / gyroscope array / information fusion / Kalman filter

引用本文

EndNote

Ris (Procite)

Bibtex

导出引用
刘明雍，朱立，董海霞. 基于卡尔曼滤波的陀螺仪阵列技术研究. 兵工学报. 2016, 37(2): 272-278 https://doi.org/10.3969/j.issn.1000-1093.2016.02.012
LIU Ming-yong, ZHU Li, DONG Hai-xia. Research on Gyroscope Array Based on Kalman Filter. Acta Armamentarii. 2016, 37(2): 272-278 https://doi.org/10.3969/j.issn.1000-1093.2016.02.012

基金

国家自然科学基金项目（51179156、51379136）

参考文献

［1］ WeissM A, Allan D W, Davis D D, et al. Smart clock: a new time［J］. IEEE Transactions on Instrumentation & Measurement, 1992, 41(6): 915-918.
［2］ El-SheimyN, Hou H, Niu X. Analysis and modeling of inertial sensors using Allan variance［J］. IEEE Transactions on Instrumentation & Measurement, 2008, 57(1): 140-149.
［3］ LamQ, Stamatakos N, Woodruff C,et al.Gyro modeling and estimation of its random noise sources［C］∥AIAA Guidance, Navigation, and Control Conference and Exhibit . Austin, Texas: AIAA, 2003.
［4］ BayardD S, Ploen S R. High accuracy inertial sensors from inexpensive components: US , 10/383475［P］. 2005-04-19.
［5］ 金光明，张国良，陈林鹏，等. MEMS陀螺仪静态漂移模型与滤波方法研究［J］. 传感器与微系统, 2007, 26(11): 48-50.
JIN Guang-ming, ZHANG Guo-liang, CHEN lin-peng. Research on filter method and model of MEMS gyro static drift［J］. Transducer and Micro-system Technologies, 2007, 26(11):48-50.(in Chinese)
［6］ ChangH, Xue L, Jiang C, et al. Combining numerous uncorrelat -edMEMS gyroscopes for accuracy improvement based on an optimal Kalman filter［J］. IEEE Transactions on Instrumentation & Measurement , 2012, 61(11): 3084-3093.
［7］ ChangH, Liang X, Wei Q, et al. An integrated MEMS gyroscope array with higher accuracy output［J］. Sensors,2008, 8(4): 2886-2899.
［8］ ChangH, Zhang P, Hu M, et al. On improving the accuracy of micromachined gyroscopes based on multi-sensor fusion［C］∥2007 First International Conference on Integration and Commercialization of Micro and Nanosystems. Sanya, Hainan: ASME, 2007：213-217.
［9］ 张鹏，常洪龙，苑伟政，等. 虚拟陀螺技术研究［J］. 传感技术学报， 2006(5): 2226-2229.
ZHANG Peng, CHANG Hong-long, YUAN Wei-zheng, et al. On improving the accuracy of micromachined gyro-scopes based on multi-sensors fusion［J］. Chinese Journal of Sensors and Actuators, 2006 (5):2226-2229.(in Chinese)
［10］ XueL, Jiang C Y, Chang H L, et al. A novel Kalman filter for combining outputs of MEMS gyroscope array［J］. Measurement,2012, 45(4): 745-754.
[11] 吉训生，王寿荣. 硅微陀螺阵列信号处理技术研究[J]. 宇航学报. 2009, 30(1):235-239.
JI Xun-sheng, WANG Shou-rong. Research on signal procession of silicon micro-gyroscope array[J]. Journal of Astronautics, 2009, 30(1):236-238. (in Chinese)
[12] 张印强，吉训生，王寿荣. 硅微阵列陀螺仪的信号滤波技术[J]. 东南大学学报：自然科学版. 2013(6):1222-1226.
ZHANG Yin-qiang, JI Xun-sheng, WANG Shou-rong. Signal filtering method of silicon micro-gyroscope array[J]. Journal of Southeast Unversity, 2013, 43(6):1222-1226. (in Chinese)
[13] Jiang C, Xue L, Chang H, et al. Signal processing of MEMS gyroscope arrays to improve accuracy using a 1st order Markov for rate signal modeling[J]. Sensors, 2012, 12(2):1720-1737.
[14] 郝燕玲, 刘博, 周广涛. 高敏感度微机械陀螺阵列的设计[J]. 华中科技大学学报:自然科学版, 2014(3):42-46.
HAO Yan-ling, LIU Bo, ZHOU Guang-tao. Design of a MEMS gyroscope array with high sensitivity[J].Journal of Huazhong University of Science and Technology:Natural Science Edition, 2014(3):42-46. (in Chinese)
[15] 陈湾湾, 陈智刚, 马林,等. MEMS微机械陀螺温度特性分析与建模[J]. 传感技术学报, 2014(2):194-197.
CHEN Wan-wan, CHEN Zhi-gang, MA Lin. Analyzing and modeling of the thermal characteristics about MEMS gyroscope[J]. Chinese Journal of Sensors and Actuators, 2014(2):194-197. (in Chinese)

727

Accesses

0

Citation

Detail
段落导航
相关文章

/

〈 〉