虚拟陀螺改进卡尔曼滤波设计

摘要

本文针对提高低精度微陀螺精度的问题展开研究，基于陀螺阵列的虚拟陀螺技术，利用滤波补偿算法，将多个具有相似特性的低精度陀螺组成陀螺阵列，提出改进的卡尔曼滤波算法将多个陀螺的输出进行数据融合，构成虚拟陀螺，并利用多陀螺数据间的相关性，对误差进行补偿消除。仿真实验结果表明，所构成的虚拟陀螺其估计残差比单陀螺减小80%以上。%This paper focuses on virtual gyroscope technology based algorithms. In order to improve accuracy of MEMS gyroscope, a virtual gyroscope system based on multiple MEMS gyroscopes is designed. A novel improved Kalman filtering algorithm is presented to integrated the outputs of those MEMS gyroscopes. The simulation results show that the presented virtual gyroscope can reduce 80%of the output error comparing to a single gyroscope.