FPGA-based embedded platform for fiber optic gyroscope signal denoising

摘要

This paper presents System on Chip (SoC) implementation of a proposed denoising algorithm for fiber optic gyroscope (FOG) signal. The SoC is developed using an Auxiliary Processing Unit of the proposed algorithm and implemented in the Xilinx Virtex-5-FXT-1136 field programmable gate array. SoC implementation of this application is first of its kind. The proposed algorithm namely adaptive moving average-based dual-mode Kalman filter (AMADMKF) is a hybrid of adaptive moving average and Kalman filter (KF) technique. The performance of the proposed AMADMKF algorithm is compared with the discrete wavelet transform and KF of different gains. Allan variance analysis, standard deviation and signal to noise ratio (SNR) are used to measure the efficiency of the algorithm. The experimental result shows that AMADMKF algorithm reduces the standard deviation or drift of the signal by an order of 100 and improves the SNR approximately by 80 dB. The Allan variance analysis result shows that this algorithm also reduces different types of random errors of the signal significantly. The proposed algorithm is found to be the best suited algorithm for denoising the FOG signal in both the static and dynamic environments.