Dynamic Measurement of Underwater Rotating Compartment Rolling Angle Based on Modified Kalman Filter

摘要

The dynamic measurement of the rolling angle is crucial for the control of the underwater rotating compartment. The rolling angle dynamic measuring device is designed for this purpose, the core of which is MEMS gyroscope. In the dynamic measurement, the measuring device produces errors due to noise and other disturbances. A filtering algorithm is needed to suppress the interference. The Kalman filter is easy to program but subject to nonlinear factors, which affects the filtering effect. Therefore, the Savitzky-Golay filter is introduced to modify the filter with the purpose of improving the measurement performance and the control effect of the compartment. Simulation studies are conducted to demonstrate the satisfying performance of the modified Kalman filter.