基于QMEMS陀螺的自适应滤波方法研究

Adaptive filtering method for QMEMS gyro

根据QMEMS陀螺的特性,在对现有卡尔曼滤波方法分析的基础上,根据自适应滤波理论和UD分解理论,提出了一种改进型自适应滤波方法,该方法可去除QMEMS陀螺在采样过程中产生的异常值,并增强惯性导航系统的实时性和稳定性。通过对QMEMS陀螺实际输出数据的滤波仿真显示,该方法去噪效果明显好于卡尔曼滤波方法,利用该方法对QMEMS陀螺的采样数据进行处理,可以为惯性导航解算提供更为准确的数据,提高惯性导航系统的精度。

According to the characteristics of quartz micro-electro-mechanical systems（QMEMS） gyro,adaptive filtering and UD decomposition theories,an improved adaptive method based on Kalman filtering method is proposed.This method removes the error data during sampling and enhances the real-time performance and stability of inertial navigation system.The simulation results of QMEMS gyro output show that the improved adaptive filtering is much better than Kalman filtering on de-noise effect.The improved adaptive filter provides more accurate data for inertial navigation system,and the precision of inertial navigation is improved.