In this paper, we introduce a z-axis quartz gyroscope using a double-H tuning fork, which has a high sensitivity. However, it also causes a large mechanical quadrature error. The laser trimming method is used to suppr...In this paper, we introduce a z-axis quartz gyroscope using a double-H tuning fork, which has a high sensitivity. However, it also causes a large mechanical quadrature error. The laser trimming method is used to suppress this error at quartz level. The trimming law is obtained through the finite element method （FEM）. A femtosecond laser processing system is used to trim the gold balancing masses on the beams, and experimental results are basically consistent with the simulated ones. The mechanical quadrature error is suppressed by 96%, from 26.3° s-1 to 1.1° s-1. Nonlinearity changes from 1.48% to 0.30%, angular random walk （ARW） is reduced from 2.19° h-1/2 to 1.42° h-1/2, and bias instability is improved by a factor of 7.7, from 197.6° h-1 to 25.4° h-1.展开更多
Aiming at the problems of low measurement accuracy,uncertainty and nonlinearity of random noise of the micro electro mechanical system(MEMS)gyroscope,a gyroscope noise estimation and filtering method is proposed,which...Aiming at the problems of low measurement accuracy,uncertainty and nonlinearity of random noise of the micro electro mechanical system(MEMS)gyroscope,a gyroscope noise estimation and filtering method is proposed,which combines expectation maximum(EM)with maximum a posterior(MAP)to form an adpative unscented Kalman filter(UKF),called EMMAP-UKF.According to the MAP estimation principle,a suboptimal unbiased MAP noise statistical estimation model is constructed.Then,EM algorithm is introduced to transform the noise estimation problem into the mathematical expectation maximization problem,which can dynamically adjust the variance of the observed noise.Finally,the estimation and filtering of gyroscope random drift error can be realized.The performance of the gyro noise filtering method is evaluated by Allan variance,and the effectiveness of the method is verified by hardware-in-the-loop simulation.展开更多
A novel on-line north-seeking method based on a three-axis micro-electro-mechanical system(MEMS)gyroscope is designed.This system processes data by using a Kalman filter to calibrate the installation error of the thre...A novel on-line north-seeking method based on a three-axis micro-electro-mechanical system(MEMS)gyroscope is designed.This system processes data by using a Kalman filter to calibrate the installation error of the three-axis MEMS gyroscope in complex environment.The attitude angle updating for quaternion,based on which the attitude instrument will be rotated in real-time and the true north will be found.Our experimental platform constitutes the dual-axis electric rotary table and the attitude instrument,which is developed independently by our scientific research team.The experimental results show that the accuracy of north-seeking is higher than 1°,while the maximum root mean square error and the maximum mean absolute error are 0.906 7 and 0.910 0,respectively.The accuracy of north-seeking is much higher than the traditional method.展开更多
A novel and efficient absorption line recovery technique is presented.A micro-electromechanical systems(MEMS) mirror driven by an electrothermal actuator is used to generate laser intensity modulation through the mirr...A novel and efficient absorption line recovery technique is presented.A micro-electromechanical systems(MEMS) mirror driven by an electrothermal actuator is used to generate laser intensity modulation through the mirror reflection.Tunable diode laser spectroscopy(TDLS) and photoacoustic spectroscopy(PAS) are used to recover the target absorption line profile which is compared with the theoretical Voigt profile.The target gas is 0.01% acetylene(C2H2) in a nitrogen host gas.The laser diode wavelength is swept across the P17 absorption line of acetylene at 1 535.4 nm by a current ramp,and an erbium-doped fibre amplifier(EDFA) is used to enhance the optical intensity and increase the signal-to-noise ratio(SNR).A SNR of about 35 is obtained with 100 mW laser power from the EDFA.Good agreement is achieved between the experimental results and the theoretical simulation for the P17 absorption line profile.展开更多
基金Project supported by the National Natural Science Foundation of China(Grant No.61027007)
文摘In this paper, we introduce a z-axis quartz gyroscope using a double-H tuning fork, which has a high sensitivity. However, it also causes a large mechanical quadrature error. The laser trimming method is used to suppress this error at quartz level. The trimming law is obtained through the finite element method （FEM）. A femtosecond laser processing system is used to trim the gold balancing masses on the beams, and experimental results are basically consistent with the simulated ones. The mechanical quadrature error is suppressed by 96%, from 26.3° s-1 to 1.1° s-1. Nonlinearity changes from 1.48% to 0.30%, angular random walk （ARW） is reduced from 2.19° h-1/2 to 1.42° h-1/2, and bias instability is improved by a factor of 7.7, from 197.6° h-1 to 25.4° h-1.
基金National Natural Science Foundation of China(No.61863024)Scientific Research Projects of Higher Institutions of Gansu Province(No.2018C-11)+1 种基金Natural Science Foundation of Gansu Province(No.18JR3RA107)Science and Technology Program of Gansu Province(No.18CX3ZA004)。
文摘Aiming at the problems of low measurement accuracy,uncertainty and nonlinearity of random noise of the micro electro mechanical system(MEMS)gyroscope,a gyroscope noise estimation and filtering method is proposed,which combines expectation maximum(EM)with maximum a posterior(MAP)to form an adpative unscented Kalman filter(UKF),called EMMAP-UKF.According to the MAP estimation principle,a suboptimal unbiased MAP noise statistical estimation model is constructed.Then,EM algorithm is introduced to transform the noise estimation problem into the mathematical expectation maximization problem,which can dynamically adjust the variance of the observed noise.Finally,the estimation and filtering of gyroscope random drift error can be realized.The performance of the gyro noise filtering method is evaluated by Allan variance,and the effectiveness of the method is verified by hardware-in-the-loop simulation.
基金Supported by the Chongqing International Science and Technology Cooperation Base Project(cstc2014gjhz40001)the University Achievement Transformation Project of Chongqing Science and Technology Commission(KJZH17115)+3 种基金the Basic Research Project of Chongqing Science and Technology Commission(cstc2015jcyjBX0068,cstc2014jcyjA1350,cstc2015jcyjB0360)the Dr.Start-up Fund of Chongqing University of Posts and Telecommunications(A2015-40,A2016-76)the National Natural Science Foundation of Chongqing University of Posts and Telecommunications(A2015-49)the Scientific and Technological Research Program of Chongqing Municipal Education Commission(KJ1704104,KJ1704091)
文摘A novel on-line north-seeking method based on a three-axis micro-electro-mechanical system(MEMS)gyroscope is designed.This system processes data by using a Kalman filter to calibrate the installation error of the three-axis MEMS gyroscope in complex environment.The attitude angle updating for quaternion,based on which the attitude instrument will be rotated in real-time and the true north will be found.Our experimental platform constitutes the dual-axis electric rotary table and the attitude instrument,which is developed independently by our scientific research team.The experimental results show that the accuracy of north-seeking is higher than 1°,while the maximum root mean square error and the maximum mean absolute error are 0.906 7 and 0.910 0,respectively.The accuracy of north-seeking is much higher than the traditional method.
基金Financial support from National High Technology Research and Development Programof China(Grant No.:2007A A06Z1122007AA03Z446)
文摘A novel and efficient absorption line recovery technique is presented.A micro-electromechanical systems(MEMS) mirror driven by an electrothermal actuator is used to generate laser intensity modulation through the mirror reflection.Tunable diode laser spectroscopy(TDLS) and photoacoustic spectroscopy(PAS) are used to recover the target absorption line profile which is compared with the theoretical Voigt profile.The target gas is 0.01% acetylene(C2H2) in a nitrogen host gas.The laser diode wavelength is swept across the P17 absorption line of acetylene at 1 535.4 nm by a current ramp,and an erbium-doped fibre amplifier(EDFA) is used to enhance the optical intensity and increase the signal-to-noise ratio(SNR).A SNR of about 35 is obtained with 100 mW laser power from the EDFA.Good agreement is achieved between the experimental results and the theoretical simulation for the P17 absorption line profile.
