基于扩展Kalman滤波算法的半球谐振子特征参数辨识方法  

Identification Method for Characteristic Parameters of Hemispherical Shell Resonator Based on Extended Kalman Filter Algorithm

作　　者：高心想 王晨晟[1] 张熙 邹康 GAO Xin-xiang;WANG Chen-sheng;ZHANG Xi;ZOU Kang(Huazhong Institute of Electro-Optic-Wuhan National Laboratory for Optoelectronics,Wuhan 430223,China)

机构地区：[1]华中光电技术研究所-武汉光电国家研究中心,湖北武汉430223

出　　处：《光学与光电技术》2025年第1期79-85,共7页Optics & Optoelectronic Technology

摘　　要：针对如何有效辨识半球谐振子特征参数的问题,提出了一种基于扩展Kalman滤波算法的辨识方法,来辨识谐振子四个特征参数:刚度各向异性Δ_(ω)、刚度失准角θ_(ω)、阻尼各向异性Δ(1/τ)和阻尼失准角θ_(τ)。根据非理想半球谐振子的幅值控制方程和正交控制方程,构建了基于扩展Kalman滤波算法的参数辨识方程,并搭建了半球谐振陀螺仿真模型,从而验证了提出方法的有效性。仿真结果表明,所有特征参数均在15 s内收敛至设定的期望值。所提出的方法能够有效辨识出半球谐振子的特征参数,可为半球谐振陀螺的误差校准、补偿以及系统精度提升提供有利指导。In order to effectively identify the characteristic parameters of hemispherical shell resonator,an extended Kalman filter algorithm is proposed to identify the four characteristic parameters of hemispherical shell resonator(HSR),which includes anisotropy of stiffnessΔ_(ω),primary axis of stiffnessθ_(ω),anisotropy of dampingΔ(1/τ)and primary axis of dampingθ_(τ).In this paper,based on the amplitude control equation and orthogonal control equation of the non-ideal hemispherical shell resonator,the parameter identification equation based on the extended Kalman filter algorithm is constructed,and the simulation model of the hemispherical resonator gyro(HRG)is built,so as to verify the effectiveness of the proposed method.The simulation results show that all the characteristic parameters converge to the set expected value within 15 seconds.The proposed method can effectively identify the characteristic parameters of the hemispherical shell resonator,and can provide a favorable guide for the error calibration,compensation and system accuracy improvement of the hemispherical resonator gyro.

关 键 词：谐振陀螺 半球谐振子 特征参数 扩展Kalman滤波 半球谐振陀螺 

分 类 号：TN96[电子电信—信号与信息处理]