静电陀螺静态漂移误差模型系数的UKF标定方法

Unscented Kalman Filter Calibration Method of Electrostatically Suspended Gyroscope Drift

针对静电陀螺漂移误差特性,采用一种新的非线性建模方法UKF(Unscented Kalman Filter)对ESG漂移系数进行了标定.该方法基于UT(Unscented Transformation)原理,在保持陀螺漂移模型非线性基础上,使高斯随机变量在非线性方程中传播,实现非线性模型参数的估计.试验结果表明,与最小二乘法和扩展Kalman滤波比较,这种非线性建模方法能够对ESG漂移误差模型进行准确的标定.

Considering the nonlinear characteristic of electrostatically suspended gyroscope （ESG） drift, a novel calibration method based on nonlinear filter was proposed. Based on Unscented Transformation principle, the Gaussian random variants can be passed in the nonlinear kinematic system, which can ensure the accurate parameter estimation in the presence of nonlinearity. As demonstrated in the experimental results, the proposed calibration method performs better than least square method and extended Kalman filter （EKF） in term of the standard variance of ESG drift error.