摘要
为了提高陀螺仪的输出精度,设计了一种由两级最优滤波组成的MEMS陀螺仪阵列的方法。首先通过卡尔曼滤波分别对分量陀螺仪进行随机误差补偿,降低分量陀螺仪的随机噪声,此为一级滤波;其次通过卡尔曼滤波将几个型号相同的陀螺仪组合成陀螺阵列,通过集中式卡尔曼滤波对其进行二次滤波,进一步提高其性能;最后,采用四个型号相同的陀螺仪进行验证实验。结果表明:通过一级滤波后,各分量陀螺仪的精度降为原始数据的3倍,通过二级滤波后,陀螺仪阵列的精度降低为原始数据的7倍,证明该方法的有效性。
In order to improve the output accuracy of the gyroscope,a method of MEMS gyroscope array composed of two-stage optimal filtering is designed.Firstly,the random error compensation of the component gyroscope is performed through Kalman filter to reduce the random noise of the component gyroscope.This is a first-level filter.Secondly,several gyroscopes of the same model are combined into a gyroscope array through Kalman filter,and the centralized Kalman filter is used for secondary filtering to further improve its performance.Finally,four gyroscopes of the same model are used for verification experiments.The results show that the accuracy of each component gyroscope is reduced to 3 times of the original data after the first-level filtering,and the accuracy of the gyroscope array is reduced to Seven times of the original data proves the effectiveness of the method.
出处
《工业控制计算机》
2021年第4期52-54,共3页
Industrial Control Computer