TY - GEN
T1 - The measurement correction of MEMS gyroscope based Interlaced Kalman Filtering
AU - Lu, Junjie
AU - Zhou, Jun
AU - Lu, Xiaodong
AU - Liu, Xiaojun
PY - 2011
Y1 - 2011
N2 - To correct the angular rate measurement error of MEMS gyroscopes for tactical missile, this paper proposes use of dynamics correspondence between the rudder control torque and the missile body attitude to build the state equation of system, which is more realistic and precise than the description for the actual missile attitude change with low-pass filter. In order to avoid errors in the linearization for nonlinear equations and reduce the filtering computation complexity, the Interlaced Kalman Filtering is applied to achieve the pseudo-linear state equation with coupling terms, which effectively reduce the computation complexity. Finally, the semi-physical simulation with the three-axis MEMS IMU and Electro-Servo verified that the algorithm significantly improved the angular rate measurement accuracy of the low-precision MEMS gyroscope.
AB - To correct the angular rate measurement error of MEMS gyroscopes for tactical missile, this paper proposes use of dynamics correspondence between the rudder control torque and the missile body attitude to build the state equation of system, which is more realistic and precise than the description for the actual missile attitude change with low-pass filter. In order to avoid errors in the linearization for nonlinear equations and reduce the filtering computation complexity, the Interlaced Kalman Filtering is applied to achieve the pseudo-linear state equation with coupling terms, which effectively reduce the computation complexity. Finally, the semi-physical simulation with the three-axis MEMS IMU and Electro-Servo verified that the algorithm significantly improved the angular rate measurement accuracy of the low-precision MEMS gyroscope.
KW - Attitude dynamic equations
KW - Error correction.
KW - Interlaced Kalman Filtering
KW - MEMS gyroscope
UR - http://www.scopus.com/inward/record.url?scp=80052048293&partnerID=8YFLogxK
U2 - 10.4028/www.scientific.net/AMR.301-303.1083
DO - 10.4028/www.scientific.net/AMR.301-303.1083
M3 - 会议稿件
AN - SCOPUS:80052048293
SN - 9783037851975
T3 - Advanced Materials Research
SP - 1083
EP - 1088
BT - Advanced Measurement and Test
T2 - 2011 2nd International Conference on Advanced Measurement and Test, AMT 2011
Y2 - 24 June 2011 through 26 June 2011
ER -