| 台速度估计(英文) |
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| 引用本文： | 周晓尧,张智永,范大鹏.台速度估计(英文)[J].中国航空学报,2011,24(5):648-656. |
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| 作者姓名： | 周晓尧 张智永 范大鹏 |
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| 作者单位： | 国防科技大学机电工程与自动化学院; |
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| 基金项目： | National Natural Science Foundation of China(50805144) |
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| 摘 要： | 针对惯性稳定平台中高精度和高带宽的速度信号需求,提出了基于低成本MEMS传感器的最优速度估计算法。采用一种新颖的传感器组合形式,包括一个低带宽的MEMS陀螺和两个低性能的MEMS加速度计。陀螺由于自身动态特性的影响,主要提供速度的低频信息,加速度计组合则由于自身偏置的影响,主要提供速度的高频信息,而估计器将两者信号进行融合。实验表明:最优状态估计器能够在时频域上,提供无偏的、高性能的速度信号。同时,在单自由度微型惯性稳定平台的应用过程中,其控制性能得到了相应的提高。该算法也适用于机器人控制、姿态估计和摩擦补偿等领域。
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| 关 键 词： | 角速度 低成本传感器 陀螺 加速度计 卡尔曼滤波 惯性稳定平台 |
| 收稿时间： | 9 May 2011 |
Improved Angular Velocity Estimation Using MEMS Sensors with Applications in Miniature Inertially Stabilized Platforms |
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| ZHOU Xiaoyao,ZHANG Zhiyong,FAN Dapeng College of Mechatronics , Automation,National University of Defense Technology,Changsha ,China.Improved Angular Velocity Estimation Using MEMS Sensors with Applications in Miniature Inertially Stabilized Platforms[J].Chinese Journal of Aeronautics,2011,24(5):648-656. |
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| Authors: | ZHOU Xiaoyao ZHANG Zhiyong FAN Dapeng College of Mechatronics Automation National University of Defense Technology Changsha China |
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| Institution: | ZHOU Xiaoyao,ZHANG Zhiyong*,FAN Dapeng College of Mechatronics and Automation,National University of Defense Technology,Changsha 410073,China |
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| Abstract: | The performance of any inertially stabilized platform (ISP) is strongly related to the bandwidth and accuracy of the angular velocity signals. This paper discusses the development of an optimal state estimator for sensing inertial velocity using low-cost micro-electro-mechanical systems (MEMS) sensors. A low-bandwidth gyroscope is used alone with two low-performance accel-erometers to obtain the estimation. The gyroscope has its own limited dynamics and mainly contributes to the low-frequency components of ... |
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| Keywords: | angular velocity low-cost sensor gyroscope accelerometer Kalman filter inertially stabilized platform |
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