激光陀螺随机漂移的数字滤波方法比较

Comparative Study on Digital Filtering on the Random Drift of Laser Gyro

激光陀螺的随机漂移噪声类似于白噪声,它是影响激光陀螺精度的重要因素,采用数字滤波的方法可以减小随机漂移对激光陀螺精度的影响.采用常见的AR(2)模型'、卡尔曼滤波'、小波分析'和小波包分析'这四种数字滤波方法对激光陀螺的随机漂移进行分析研究,并利用功率谱和Allan方差的分析方法对这几种滤波效果进行了比较.仿真结果表明,对于激光陀螺的随机漂移的滤除,基于AR模型的卡尔曼滤波法的效果最好,基本上消除了陀螺的随机误差,而小波分析法和小波包分析法只能在一定程度上消除高频段的漂移.所得结果对激光陀螺的应用有较好的参考价值.

As white noise, random drift is a key essential affecting the precision of laser gyro. Digital filtering can reduce the effect of the random drift. Some familiar digital filtering methods are studied in the article, i.e. the AR （2） model, Kalman filtering, wavelet analysis and wavelet packet analysis. The effects of different filtering methods are analyzed and compared with both power spectrum and Allan variance. Experiments indicate that Kalman filtering can achieve best performance as to filtering the random drift of ring laser gyro, and high frequency noise can be filtered to some extent by using wavelet analysis and wavelet packet analysis. These results are useful to the applications of laser gyro.