| 虚拟陀螺技术在MEMS惯性导航系统中的应用 |
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| 引用本文： | 何昆鹏,程万娟,高延滨,梁海波. 虚拟陀螺技术在MEMS惯性导航系统中的应用[J]. 哈尔滨工程大学学报, 2009, 30(10). DOI: 10.3969/j.issn.1006-7043.2009.10.008 |
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| 作者姓名： | 何昆鹏 程万娟 高延滨 梁海波 |
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| 作者单位： | 哈尔滨工程大学,自动化学院,黑龙江,哈尔滨,150001;哈尔滨工程大学,自动化学院,黑龙江,哈尔滨,150001;哈尔滨工程大学,自动化学院,黑龙江,哈尔滨,150001;哈尔滨工程大学,自动化学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 针对MEMS惯性导航系统中陀螺测量精度低的问题,采用虚拟陀螺技术提高陀螺的角速度测量精度.系统中每个测量轴放置了3个普通精度的陀螺,组成一个阵列,对同一角速度信号进行冗余检测,然后通过同类传感器信息融合技术得到输入角速率的高精度估计值.试验结果表明,虚拟陀螺的精度最大提高了2.7倍,最小1.9倍,证明了虚拟陀螺技术的有效性.
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| 关 键 词： | 惯性导航 虚拟陀螺 卡尔曼滤波 误差补偿 |
Virtual gyro technique applied in the MEMS INS |
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| HE Kun-peng,CHENG Wan-juan,GAO Yan-bin,LIANG Hai-bo. Virtual gyro technique applied in the MEMS INS[J]. Journal of Harbin Engineering University, 2009, 30(10). DOI: 10.3969/j.issn.1006-7043.2009.10.008 |
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| Authors: | HE Kun-peng CHENG Wan-juan GAO Yan-bin LIANG Hai-bo |
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| Abstract: | To improve the measurement precision of micro-electro-mechanical systems (MEMS) gyros, virtual gyro techniques were used to test a miniaturized inertial measurement unit (MIMU) that the authors designed. The system arrayed three gyros of moderate precision on each axis to provide redundant signals at the same angular rate. Then through sensor information fusion technology, sophisticated homogeneous estimated values of input angular rates were calculated. The experimental results indicate that the precision improvements of the virtual gyroscope are in the range of 2.7 to 1.9 times, proving the validity of this approach. |
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| Keywords: | inertial navigation system virtual gyro Kalman filter error compensation |
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