应用Kalman滤波器提高机抖激光陀螺姿态测量系统瞬时精度的方法  

Improving the instantaneous precision of dither RLG attitude measurement system using Kalman filter

作　　者：吴赛成[1] 秦石乔[1] 王省书[1] 胡春生[1] 

机构地区：[1]国防科技大学光电科学与工程学院,长沙410073

出　　处：《仪器仪表学报》2011年第1期201-205,共5页Chinese Journal of Scientific Instrument

基　　金：国家"863"高技术项目(2006AA09Z208)

摘　　要：机械抖动激光陀螺输出的原始数据不仅包含了外界的惯性输入的角速率信息,还包含了抖动信号的角速率信息,通常使用线性相位FIR滤波器去除机械抖动信号,信号经滤波后其所有频率成分都将产生一定时间的延迟,这将对由机抖陀螺组成的高精度实时姿态测量系统造成影响。本文提出了一种基于姿态角运动跟踪预测模型和Kalm an预测的姿态测量滤波延迟补偿方法。实验结果表明,本方法能有效估计并预测运动载体的姿态运动,补偿由于FIR滤波器时间延迟带来的不利影响,提高姿态测量系统的实时性和瞬时精度。The raw output data of dither ring laser gyro（RLG） include two parts,one is inertial angular rate information and the other is dither angular rate information.The dither information is usually wiped off by a FIR filter with linear phase delay.All the frequency components of the signal passing through the FIR filter will suffer from a time delay,and the precision of dither RLG attitude measurement system is affected by the filtering delay.In this paper a filtering delay compensator is put forward,which is based upon attitude movement tracking model and Kalman prediction.Experimental results show that this method can effectively estimate and predict the carrier attitude angle and compensate the adverse effect brought by the FIR filter delay,which improves the instantaneous precision and real time performance of the attitude measurement system.

关 键 词：激光陀螺 机械抖动 姿态测量 FIR滤波延迟 KALMAN滤波器 

分 类 号：U666.1[交通运输工程—船舶及航道工程]