Virtual Gyroscope Technology Based on Optimization of Kalman Filter
Abstract In order to improve the accuracy of MEMS gyro and to meet wide application requirements, an automatic regressive model (AR model) and output model of single MEMS gyro are established. Based on the two models, the state space equation and measurement equation of virtual gyroscope are found. A Kalman filter to combine outputs of gyro array is designed, and to enhance real-time ability, a novel Kalman filter is also constructed. Constant-rate and angular vibration experiments are carried out to verify the validity of the data-combining approach. The results indicate that relative to single gyro, the virtual gyro’s accuracy can increase 18.18 times in the constant-rate experiment and 5.36 times in the angular vibration experiment.
Key words :
MEMS gyroscope
AR model
virtual gyroscope technology
data-combine
[1]
GUO Zhongchen,SUN Peng,LI Zhichun. Research on the Improved Algorithm of Clock Bias Short-Term Prediction Based on GM(1,1)+AR Model [J]. jgg, 2020, 40(9): 907-912.
[2]
WANG Mengting,NIE Jianliang,TIAN Jie,HUANG Gongwen,ZHAO Dajiang,LIU Wenlong,ZHANG Haiping. The Vertical Crustal Movement Model of the Local Zone Established by GNSS and Level Data [J]. jgg, 2019, 39(9): 896-899.
[3]
LI Chenghong,LI Tao,LI Guangcai, CHANG Hua,FANG Rongxin. Low-Frequency Signals Measurement Characteristics of Accelerometers and Its Combination with High-Rate GNSS for Earthquake Monitoring [J]. jgg, 2019, 39(12): 1293-1298.
[4]
SUN Wei;SONG Ruyi;WANG Yuhang;WU Zenglin. Universality Verification of Random Error Compensation Method for MEMS Gyroscope with Kalman Filter [J]. jgg, 2019, 39(11): 1188-1193.
[5]
LU Tieding, ZHU Guohong. Algorithms for Adjustment Model with Uncertainty Based on F-Norm [J]. jgg, 2018, 38(6): 557-561.
[6]
XIAO Lejie,SUN Fuping,CAI Renming,PENG Wensheng,LIU Ke,ZHANG Shuai. Application of CEEMD Threshold Filtering for MEMS-Gyro Signal De-Noising [J]. jgg, 2017, 37(5): 487-491.
[7]
WANG Zhiwen,WANG Qianxin,HE Yilei,HU Chao. A New Method to Predict Pole Shift Based on the Correlation Between PMX and PMY [J]. jgg, 2017, 37(11): 1178-1182.
[8]
ZOU Bo,SONG Yingchun,TANG Zhengqi,XIE Xuemei. Adjustment Algorithm on AR Model with Uncertain in Settlement Observation [J]. jgg, 2016, 36(8): 686-688.
[9]
WU Fengbo,HANG Xiaohong. Improving the Klobuchar Model Based on Beidou GEO Observations in Australia [J]. jgg, 2015, 35(6): 1012-1016.
[10]
XU Libing,CAI Chenglin,CHEN Guangxi,LI Chunhua. A New Klobuchar Model and Its Precision Analysis for Beidou Navigation Satellite System [J]. jgg, 2015, 35(5): 788-792.
[11]
CAI Chenghu,LIU Lilong,LI Junyu,LIN Guobiao. Establishment of Region Ionospheric Delay Model in Nanning Based
on Improved Klobuchar Model [J]. jgg, 2015, 35(5): 797-800.
[12]
REN Chao,LIANG Yueji,PANG Guangfeng,LAN Lan,TANG Li. A Novel Multi-Step Prediction for Dam Deformation Prediction Based on EEMD [J]. jgg, 2015, 35(5): 816-820.
[13]
CHEN Lue,TANG Geshi,XU Xueqing,HU Songjie,SUN Jing,LIU Ye. Research on High Accuracy Dual Differential LS+AR Method
in Earth Polar Motion Parameters Prediction [J]. jgg, 2015, 35(5): 844-848.
[14]
FU Wenju,ZHANG Qin,HUANG Guanwen. Analysis of Combined Real-time Predicting Model of
BDS/GPS System Time Offset [J]. jgg, 2015, 35(4): 653-657.
[15]
Hao Wanliang,Sun Fuping. ANALYSIS OF GYROSCOPE RANDOM ERROR AND
APPLICATION ON GNSS/INS INTEGRATION [J]. jgg, 2014, 34(6): 144-147.