基于EKF的超流体陀螺噪声抑制方法

Method for noise suppression of superfluid gyroscope based on EKF

超流体陀螺是基于物质波萨格纳克效应的干涉式陀螺仪,存在输出噪声较大致使其高测量精度的潜力不能发挥等问题.为此,基于超流体陀螺的工作机理,推导其状态方程和测量方程,构建其运动模型.对测量方程在工作点处进行泰勒级数展开,将其线性化,提出超流体陀螺的扩展卡尔曼滤波(EKF)算法,从信号处理角度抑制该陀螺噪声.仿真结果表明,基于该方法得到的角速度测量值误差有了较大改善,超流体陀螺的测量精度有了显著提高.

The superfluid gyroscope is an interferometric gyroscope based on the matter wave, which faces a problen that output noises very high, so its potential of high-accuracy cannot be exerted. Therefore, based on the principle of superfluid gyroscope, and its state equation and measurement equations are deduced, and its movement model is studied. Then, the measurement equation is linearized at the working point with the Taylor series expansion, an EKF method of superfluid gyroscope is presented, and the gyroscope noise is suppressed by the way of signal process. Simulation result shows that the error of angular velocity detected value is improved greatly by using the proposed method, and the detected accuracy of superfluid gyroscope increases remarkably.