Analysis of influencing factors on fusion accuracy of virtual gyroscope technology and new data fusion method

摘要

In view that the MEMS gyroscope has low precision, the virtual gyro is used to improve the output precision of the MEMS gyro. By analyzing the factors affecting the fusion precision of virtual gyro, the essential relationship between gyro noise correlation and the fusion precision is obtained. In static, the influence of the noise characteristics and noise correlation coefficient on the output precision of MEMS gyro array is great; while in dynamic, the influence of the noise characteristics is small due to system modeling error and non-linear error, the influence of the angular rate modeling accuracy is great. Therefore, the Taylor model is used to extend the motion model described by classical Newtonian mechanics, and the angular motion model of different modeling series is established. This paper introduces the improved current statistical model, uses the modified Rayleigh function to describe the angular motion variable, establishes the zero-mean colored driving noise model, realizes the adaptive adjustment of the frequency and the driving noise intensity, and establishes the high-precision dynamic angular rate model of different modeling series. Finally, the improved interactive multi-model Kalman filter is used to fuse the output of the gyro in the MEMS gyro array. The simulation results show that the proposed method can improve the output precision of MEMS gyroscopes effectively and has certain engineering application value. (C) 2019 ISA. Published by Elsevier Ltd. All rights reserved.