北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (6): 1213-1220.doi: 10.13700/j.bh.1001-5965.2017.0462

• 论文 • 上一篇    下一篇

自适应FLP滤波在激光陀螺IMU标定中的应用

卢兆兴1,2, 房建成1, 王仕成2, 李建利1, 党鹏飞1   

  1. 1. 北京航空航天大学 仪器科学与光电工程学院, 北京 100083;
    2. 火箭军工程大学 精确制导与仿真实验室, 西安 710025
  • 收稿日期:2017-07-10 出版日期:2018-06-20 发布日期:2018-06-28
  • 通讯作者: 房建成.E-mail:fangjiancheng@buaa.edu.cn E-mail:fangjiancheng@buaa.edu.cn
  • 作者简介:卢兆兴 男,博士研究生。主要研究方向:惯性导航与组合导航技术;房建成 男,博士,教授,博士生导师。主要研究方向:惯性导航、组合导航及航天器姿态控制技术。
  • 基金资助:
    国家自然科学基金(61421063,61473020,61571030,61573040,61722103,61503393);国家“863”计划(2015AA124001,2015AA124002);国际(地区)合作与交流项目(61661136007);基础科研项目(YWF-17-BJ-Y-71)

Application of adaptive FLP filter to ring laser gyro IMU calibration

LU Zhaoxing1,2, FANG Jiancheng1, WANG Shicheng2, LI Jianli1, DANG Pengfei1   

  1. 1. School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
    2. Accuracy Guidance and Simulation Laboratory, Rocket Force University of Engineering, Xi'an 710025, China
  • Received:2017-07-10 Online:2018-06-20 Published:2018-06-28

摘要: 激光陀螺的高频机抖使得激光陀螺惯性测量单元(IMU)的测量数据包含较大的随机噪声。传统标定方法通过延长测量时间消除对随机噪声的影响,降低了标定效率。提出了应用自适应前向线性预测(FLP)滤波对激光陀螺IMU的标定数据进行降噪,在较小标定数据量情况下提高系统的标定精度。首先通过四方位正反速率标定试验获得原始标定数据;然后通过自适应FLP滤波器对标定数据进行噪声抑制;最后利用降噪后的数据计算标定参数。试验结果表明,该方法能够有效抑制标定数据中的随机噪声,提高信号的信噪比(SNR),从而在标定数据量较小的情况下得到较高精度的标定参数,提升系统的导航精度。

关键词: 激光陀螺惯性测量单元(IMU), 随机噪声, 噪声抑制, 自适应前向线性预测(FLP)滤波, 标定

Abstract: Ring laser gyro inertial measurement unit (IMU) encounters the problem of relatively large stochastic noise because of the strenuous dithering motion. The conventional calibration method eliminates the impact on the stochastic noise by extending the measurement time, which undoubtedly reduces the calibration efficiency. To solve the problem, the adaptive forward linear prediction (FLP) filter is adopted to suppress the stochastic noises of ring laser gyro IMU calibration data and improve the calibration accuracy of the system with small amount of calibration data. Firstly, the original data is acquired from the four-position rotation calibration experiment. Secondly, the calibration data is de-noised by the adaptive FLP filter to improve its signal noise ratio (SNR). Finally, the calibration parameters are calculated with the de-noised data. The experimental results show that the stochastic noises of calibration data are de-noised effectively by the adaptive FLP filter, the SNR of the signal is improved, and more accurate calibration parameters are acquired with small amount of calibration data, which enhances the navigation accuracy of the system.

Key words: ring laser gyro inertial measurement unit (IMU), stochastic noise, de-noising, adaptive forward linear prediction (FLP) filter, calibration

中图分类号: 


版权所有 © 《北京航空航天大学学报》编辑部
通讯地址:北京市海淀区学院路37号 北京航空航天大学学报编辑部 邮编:100191 E-mail:jbuaa@buaa.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发