基于模糊卡尔曼的MEMS陀螺误差校正算法研究

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英文篇名：Research on MEMS Gyro Error Correction Algorithm Based on Fuzzy Kalman 作者：章雪挺 ; 许欢 英文作者：ZHANG Xueting;XU Huan;School of Electronic Information,Hangzhou Dianzi University; 关键词：误差补偿 ; 姿态解算 ; 模糊推理 ; 卡尔曼滤波 英文关键词：error compensation;;attitude algorithm;;fuzzy reasoning;;Kalman filter 中文刊名：HXDY 英文刊名：Journal of Hangzhou Dianzi University(Natural Sciences) 机构：杭州电子科技大学电子信息学院; 出版日期：2019-01-15 出版单位：杭州电子科技大学学报(自然科学版) 年：2019 期：v.39;No.177 语种：中文; 页：HXDY201901001 页数：6 CN：01 ISSN：33-1339/TN 分类号：5-10

摘要

在组合测姿系统中,应用MEMS陀螺仪进行载体姿态角度测量时,陀螺测量误差将导致角度发散,为此,结合各传感器的测量特性,提出一种基于模糊卡尔曼算法的姿态误差补偿方法,对MEMS陀螺仪姿态解算进行补偿。首先通过模糊推理规则对陀螺测量误差进行实时补偿,然后结合卡尔曼滤波算法对姿态状态量进行实时校正,解决了因陀螺测量误差导致的滤波发散问题。实验结果表明:模糊卡尔曼滤波算法与常规卡尔曼滤波算法相比,姿态解算精度更高,验证了基于模糊推理的卡尔曼滤波数据融合算法的可行性。
        In the combined attitude measurement system,the MEMS gyroscope is used to measure the attitude angle of the carrier.For the consideration of angle divergence due to the introduction of gyroscope measurement error,this paper proposed an attitude error compensation method based on fuzzy Kalman algorithm,which combined with the sensor measuring characteristics,realizing the compensation of the MEMS gyroscope attitude solution error.Firstly,the method compensated gyroscope measurement error by fuzzy inference rules in real time.Then it combined with Kalman filter algorithm to realize the real-time correction of the attitude state quantity,and solve the problem of filter divergence caused by gyroscope measurement error.Experimental results show that fuzzy Kalman filter algorithm has higher accuracy of attitude calculation than conventional Kalman filter algorithm,and verify the feasibility of Kalman filter data fusion algorithm based on fuzzy inference.

引文

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