| 自适应Kalman滤波在MEMS陀螺仪信号处理中的应用 |
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| 引用本文： | 吉训生,王寿荣,许宜申,盛平.自适应Kalman滤波在MEMS陀螺仪信号处理中的应用[J].传感器与微系统,2006,25(9):79-81,85. |
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| 作者姓名： | 吉训生 王寿荣 许宜申 盛平 |
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| 作者单位： | 1. 江南大学,信控学院,江苏,无锡,214063;东南大学,仪器科学与工程系,江苏,南京,210096
2. 东南大学,仪器科学与工程系,江苏,南京,210096 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 通过中值滤波和均值滤波的有机结合,可以去除MEMS陀螺仪漂移中的"野点"信号。基于Haar小波基的小波变换,寻找到了一种易于实时在线实现的漂移特征提取方法。对残差信号进行二阶AR模型分析建模后,利用改进的自适应Kalm an滤波算法,对残差信号进行滤波,提高了被处理漂移信号的精度。实际测量数据的处理结果验证了该MEMS陀螺仪去漂移方法的有效性。
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| 关 键 词： | 小波变换 MEMS陀螺仪 中值滤波 陀螺仪漂移 |
| 文章编号： | 1000-9787（2006）09-0079-03 |
| 收稿时间： | 2006-03-21 |
| 修稿时间： | 2006-03-21 |
Application of the adaptive kalman filter in the MEMS gyro signal processing |
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| JI Xun-sheng,WANG Shou-rong,XU Yi-shen,SHENG Ping.Application of the adaptive kalman filter in the MEMS gyro signal processing[J].Transducer and Microsystem Technology,2006,25(9):79-81,85. |
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| Authors: | JI Xun-sheng WANG Shou-rong XU Yi-shen SHENG Ping |
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| Abstract: | The outlier signal from the MEMS gyro drift could be got rid of effectively by uniting the mean filter and the median filter. Based on the wavelet transformation of the Haar basis, a method to extract the character of the gyro drift signal has been found ,the method is fit for the implementation in real-time on-line. After the residual signal is modeled by a 2-order AR, an improved adaptive Kalman filtering algorithm is used to filter the signal. The accuracy of drift signal is improved greatly. The processed result from the practical gyro measurement shows the method of the de-drift is effective. |
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| Keywords: | wavelet transformation MEMS gyro median filter gyro drift |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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