| 基于自适应UKF算法的MEMS陀螺空中在线标定技术 |
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| 引用本文： | 秦伟,苑伟政,常洪龙,薛亮.基于自适应UKF算法的MEMS陀螺空中在线标定技术[J].中国惯性技术学报,2011,19(2). |
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| 作者姓名： | 秦伟 苑伟政 常洪龙 薛亮 |
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| 作者单位： | 西北工业大学陕西省微/纳米系统重点实验室,西安,710072 |
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| 基金项目： | 国家自然科学基金资助项目，国家高技术研究发展计划(863)项目 |
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| 摘 要： | 为保证微型卫星定位应用中系统精度与稳定性,需要对姿态传感器进行实时在线标定.在无外界姿态参考时,提出一种用三轴磁强计测量值来实时估计MEMs陀螺的零漂误差的方法,采用UKF滤波算法,将陀螺漂移作为滤波状态向量,通过建立三轴磁强计测量微分方程,作为系统量测方程实现陀螺漂移的最优估计.针对磁强计测量信息易受干扰导致滤波量测模型不准确的问题,将自适应因子引入到UKF中,通过在线监控和调整测量误差,减少陀螺标定的估计误差,增强系统性能.实验结果表明,经过标定,MEMS陀螺精度提高约30%,并且在磁强计有外界干扰时,陀螺的标定结果收敛.将标定后的MEMS陀螺进行姿态解算,其动态误差小于2°.
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| 关 键 词： | MEMS陀螺 在线标定 磁强计 自适应滤波 |
In-flight on-line calibration method for MEMS gyroscope based on adaptive unscented Kalman filter algorithm |
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| QIN Wei,YUAN Wei-zheng,CHANG Hong-long,XUE Liang.In-flight on-line calibration method for MEMS gyroscope based on adaptive unscented Kalman filter algorithm[J].Journal of Chinese Inertial Technology,2011,19(2). |
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| Authors: | QIN Wei YUAN Wei-zheng CHANG Hong-long XUE Liang |
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| Institution: | QIN Wei,YUAN Wei-zheng,CHANG Hong-long,XUE Liang (Micro and Nano Electromechanical Systems Lab,Northwestern Polytechnical University,Xi'an 710072,China) |
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| Abstract: | The attitude sensors need to be calibrated on-line in order to guarantee the performance of system in the application of the micro-satellite.A real-time drift error estimation method of MEMS gyroscope is presented by using three-axis magnetometer measurements without any external attitude reference.The unscented Kalman filter(UKF) is applied as the optimal estimation algorithm,the gyroscope drift is used as the filter state vector,and the finite difference of magnetometers observation is established as the ... |
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| Keywords: | UKF |
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