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Application of interacting multi-model algorithm in gyro signal processing |
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| Authors: | Wang Meng Wang Xiaofeng Zhang He Lu Jianshan Zhang Aijun |
| Affiliation: | 1. School of Mechanical Engineering, Nanjing University of Science & Technology, Nanjing 210094, P.R.China; Shanghai Research Institute of Aerospace Information, Shanghai 201109, P.R.China 2. School of Mechanical Engineering, Nanjing University of Science & Technology, Nanjing 210094, P.R.China 3. School of Mechanical Engineering, Nanjing University of Science & Technology, Nanjing 210094, P.R.China;Vehicle Engineering Research Institute, Zhejiang University of Technology, Hangzhou 310014, P.R.China 4. School of Mechanical Engineering, Nanjing University of Science & Technology, Nanjing 210094, P.R.China;Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information,Ministry of Education, Nanjing University of Science & Technology, Nanjing 210094, P.R.China |
| Abstract: | There is one problem existing in gyroscope signal processing,which is that single models can't adapt to change of carrier maneuvering process.Since it is difficult to identify the angular motion state of gyroscope earners,interacting multiple model(IMM) is employed here to solve the problem.The Kalman filter-based IMM(IMMKF) algorithm is explained in detail and its application in gyro signal processing is introduced.And with the help of the Singer model,the system model set of gyro outputs is constructed.In order to demonstrate the effectiveness of the proposed approach,static experiment and dynamic experiment are carried out respectively.Simulation analysis results indicate that the IMMKF algorithm is excellent in eliminating gyro drift errors,which could adapt to the change of carrier maneuvering process well. |
| Keywords: | gyro interacting multiple model (IMM) Kalman filter singer model signal processing |
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