Random Drift Suppression Method of MEMS Gyro Using Federated Kalman Filter

摘要：

In order to suppress random drift of MEMS gyro effectively, the gyro angular rate information is fused with the angular rate information which is computed from geomagnetism based on theory of federated Kalman filter in this paper, and global optimum angular information is achieved. Due to the easy disturbance characteristics of the geomagnetism, its angular rate is diagnosed and fixed by faulttolerant filter to enhance the fault tolerance ability. The method can not only suppress random drift of gyro and improve measurement accuracy of body attitude, but also suppress the interference of geomagnetism and provide accurate angular information for subsequent attitude compute algorithm in this method.

关键词： Federated Kalman Filter MEMS gyro Random drift Geomagnetism information

作者: Guo-xing Shi Shu-xing Yang Zhong Su

作者单位: School of Aerospace Engineering Beijing Institute of Technology Beijing, China Beijing Information Science & Technology University Beijing, China

会议类型: 国际会议

会议名称: 2011 3rd International Conference on Advanced Computer Control(2011年IEEE第三届高端计算机控制国际会议 ICACC2011)

会议地点: 哈尔滨

会议语种:英文

页码: 274-277

在线出版日期: 2011-01-18（万方平台首次上网日期，不代表论文的发表时间）