独立卡尔曼滤波器全加速度计复杂振动角速度解算

摘要

For multi-freedom vibration test,the key of complicated vibration test is calculating the angular velocity. However, single method to calculate the angular velocity is not very ideal. Analyzing the angular velocity calculating algorithms by 4 tri-axial accelerometers,this paper puts forward Kalman filter to raise the accuracy of angular velocity. The simulation and experimental results show that this method is better and more accurate.%对于运动体的多自由度振动测试,准确的振动角速度是复杂振动参数解算的关键.针对目前解算角速度单一方法测试精度不理想的问题,分析由4个三轴加速度计组成传感器阵列,测试角速度解算算法,设计一种独立的卡尔曼滤波器用于角速度解算.通过仿真及实验证明:该方法解算结果的误差最大值和标准差相对于单一方法可提高1个数量级,其得到的角速度幅值准确性和曲线平滑度也优于其他单一解算方法.