测试科学与仪器2021，Vol.12Issue(2)：170-176,7.DOI:10.3969/j.issn.1674-8042.2021.02.006
基于EMMAP的MEMS陀螺噪声估计与滤波方法研究
Noise estimation and filtering method of MEMS gyroscope based on EMMAP
摘要
Abstract
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 adj ust 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.关键词
MEMS陀螺仪/最大期望算法/噪声估计/无迹卡尔曼滤波Key words
micro electro mechanical system (MEMS)gyroscope/expectation maximization (EM)algorithm/noise estimation/unscented Kalman filter (UKF)引用本文复制引用
陈光武,于月,李文元,刘昊..基于EMMAP的MEMS陀螺噪声估计与滤波方法研究[J].测试科学与仪器,2021,12(2):170-176,7.基金项目
National Natural Science Foundation of China(No.61863024) （No.61863024）
Scientific Research Projects of Higher Institutions of Gansu Province(No.2018C-11) （No.2018C-11）
Natural Science Foundation of Gansu Province(No.18JR3RA107) （No.18JR3RA107）
Science and Technology Program of Gansu Province(No.18CX3ZA004) （No.18CX3ZA004）
