传感技术学报2018，Vol.31Issue(4)：538-544,550,8.DOI:10.3969/j.issn.1004-1699.2018.04.009
基于改进卡尔曼滤波的陀螺仪误差补偿算法
A Compensation Algorithm of Gyroscope Error Based on Modified Kalman Filter
摘要
Abstract
Aiming at the problem that the measurement noise covariance of the compensation algorithm of MEMS gyroscope error based on Kalman filter is determined inaccurately,a compensation algorithm of gyroscope error based on modified Kalman filter is proposed.The measurement noise of Kalman filter is usually estimated by statistic charac-teristics,so that the noise characteristics of gyroscope in different environment can't be estimated adaptively. The Kalman filter and neural network are combined in this algorithm. The innovation matrix of the Kalman filter is employed as the input of neural network and the innovation covariance matrix can be determined through the neural network.The measurement noise covariance can be calculated by the innovation covariance matrix adaptively and this algorithm is applied to the compensation of gyroscope error. Allan analysis method is used to analyze the raw signal and the result of the compensation algorithm. The experiment result shows that the random error can be controlled effectively by the algorithm proposed in this paper and the accuracy of MEMS gyroscope is improved.关键词
MEMS陀螺仪/误差补偿/卡尔曼滤波/神经网络Key words
MEMS gyroscope/error compensation/Kalman filter/neural network分类
信息技术与安全科学引用本文复制引用
李鲁明,赵鲁阳,唐晓红,何为,李凤荣..基于改进卡尔曼滤波的陀螺仪误差补偿算法[J].传感技术学报,2018,31(4):538-544,550,8.基金项目
中科院科技服务网络计划项目(KFJ-STS-ZDTP-017) （KFJ-STS-ZDTP-017）
上海市青年科技英才扬帆计划项目(15YF1414500) （15YF1414500）
国家高技术研究发展计划项目(2015AA043502) （2015AA043502）
Youth Innovation Promotion Association CAS （）
