Author:
Shen Qiang,Liu Jieyu,Zhou Xiaogang,Wang Lixin
Abstract
The gyro array is a useful technique in improving the accuracy of a micro-electro-mechanical system (MEMS) gyroscope, but the traditional estimate algorithm that plays an important role in this technique has two problems restricting its performance: The limitation of the stochastic assumption and the influence of the dynamic condition. To resolve these problems, a multi-model combined filter with dual uncertainties is proposed to integrate the outputs from numerous gyroscopes. First, to avoid the limitations of the stochastic and set-membership approaches and to better utilize the potentials of both concepts, a dual-noise acceleration model was proposed to describe the angular rate. On this basis, a dual uncertainties model of gyro array was established. Then the multiple model theory was used to improve dynamic performance, and a multi-model combined filter with dual uncertainties was designed. This algorithm could simultaneously deal with stochastic uncertainties and set-membership uncertainties by calculating the Minkowski sum of multiple ellipsoidal sets. The experimental results proved the effectiveness of the proposed filter in improving gyroscope accuracy and adaptability to different kinds of uncertainties and different dynamic characteristics. Most of all, the method gave the boundary surrounding the true value, which is of great significance in attitude control and guidance applications.
Funder
National Natural Science Foundation of China
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Cited by
4 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献