基于Kalman滤波器的加速度信号数字系统设计  

Design of Accelerometer Signal Digital System Based on Kalman Filter

作　　者：吴帅 廖建平 肖述晗 任海燕 WU Shuai;LIAO Jian-ping;XIAO Shu-han;REN Hai-yan(Beijing Changcheng Institute of Metrology&Measurement,Beijing 100095)

机构地区：[1]北京长城计量测试技术研究所,北京100095

出　　处：《导航与控制》2022年第1期74-81,共8页Navigation and Control

摘　　要：现代武器中的惯性导航系统朝着小型化、数字化、高精度方向发展,针对捷联惯性导航系统中加速度计输出的模拟电流信号高精度模数转换的需要,设计了一种基于Kalman滤波器的加速度计信号模数转换系统。在前端采用电流处理电路和高精度ADC芯片进行模数转换,在后端设计一种自适应Kalman滤波器对数字转化过程中的信号噪声进行处理,实现了对加速度计输出模拟信号的高精度模数转换。该系统应用于某型号加速度计输出信号的模数转换,在其全量程范围内的线性度优于9.6×10^(-5),满足技术指标要求。试验表明,该系统在静态与动态情况下均能对加速度计信号实现高精度转换,可向后级导航计算机提供准确的加速度数字信号。The inertial navigation system in modern weapons is developing towards miniaturization,digitization and high-precision.According to the needs of high-precision analog-to-digital conversion between the current signals of accelerometer in strapdown inertial navigation system,an accelerometer signal analog-to-digital conversion system based on Kalman filter is designed in this paper.At the front end of the system,current processing circuit and high-precision ADC chip are used for analog-to-digital conversion.At the back end,an adaptive Kalman filter is designed to process the signal noise in the digital conversion process,which realizes the high-precision analog-to-digital conversion of the accelerometer output analog signal.The system is applied to the analog-to-digital conversion of accelerometer output signal,and the linearity in its full range is better than 9.6×10^(-5),which meets the technical index requirements.The test shows that the system can realize high-precision conversion of accelerometer signal under both static and dynamic conditions,and can provide accurate acceleration digital signal to the navigation computer.

关 键 词：数字化设计 加速度信号 模数转换 KALMAN滤波器 嵌入式设计 

分 类 号：TP274.2[自动化与计算机技术—检测技术与自动化装置]