Modeling and design of appropriate compensation for DTG (Dynamically Tuned Gyroscope) and improving sensor response using a Kalman filter

摘要

Dynamically tuned gyroscopes (DTGs) are one the most common sensors which widely used in navigation fields. As in the navigation systems, all of the calculations of the control and guidance unit are correlated to the sensors and on the other hand, almost all of the sensors include white noise, so it is much prominent to implement a control method based on some novel procedures enabling the system to reduce the noise. In this study, at first, a DTG was modeled and it was tried to present an accurate nonlinear model for that. Accordingly, a classic controller including Lag-Lead compensator was designed to stabilize the system. Then this linear controller was applied to both nonlinear and linear system. Obtained results and the comparison of them demonstrated the desired performance of the system in tracking of the system output. Afterwards, a Kalman Filter was applied in order to decrease the deleterious noise in the sensor output where gained simulation results confirmed the appropriate performance of the presented system.