In order to satisfy the requirement of high precision measurement in a high dynamic environment, a kind of gyro aided multi-accelerometer inertial measurement unit （GAMA-IMU） with six accelerometers and two gyros （...In order to satisfy the requirement of high precision measurement in a high dynamic environment, a kind of gyro aided multi-accelerometer inertial measurement unit （GAMA-IMU） with six accelerometers and two gyros （6A2G） was proposed in this paper. The available configurations have the problem of low measurement precision In a high dynamic environment due to channel coupling. The three channels were decoupled when calculating the angular velocity in the proposed configuration. The yawing and pitching angular velocity were directly measured by gyros, while only the rolling angular velocity was obtained by the GAMA-IMU indirectly from the rolling angular acceleration and quadratic component of rolling angular velocity. Then a single channel rolling angular velocity calculation model was established and the extended Kalman filter （EKF） was used to do state esti- mation. Simulations were carried out and results indicated that the calculation precision of the proposed 6A2G configuration could meet the demand of high precision measurement for a high-speed rotating carrier.展开更多
本文研究带不确定方差乘性和加性噪声和带状态相依及噪声相依乘性噪声的多传感器系统鲁棒加权融合估计问题.通过引入虚拟噪声补偿乘性噪声的不确定性,将原系统化为带确定参数和不确定加性噪声方差的系统,进而利用Lyapunov方程方法提出...本文研究带不确定方差乘性和加性噪声和带状态相依及噪声相依乘性噪声的多传感器系统鲁棒加权融合估计问题.通过引入虚拟噪声补偿乘性噪声的不确定性,将原系统化为带确定参数和不确定加性噪声方差的系统,进而利用Lyapunov方程方法提出在统一框架下的按对角阵加权融合极大极小鲁棒稳态Kalman估值器(预报器、滤波器和平滑器),其中基于预报器设计滤波器和平滑器,并给出每个融合器的实际估值误差方差的最小上界.证明了融合器的鲁棒精度高于每个局部估值器的鲁棒精度.应用于不间断电源(uninterruptible power system,UPS)系统鲁棒融合滤波的仿真例子说明了所提结果的正确性和有效性.展开更多
文摘In order to satisfy the requirement of high precision measurement in a high dynamic environment, a kind of gyro aided multi-accelerometer inertial measurement unit （GAMA-IMU） with six accelerometers and two gyros （6A2G） was proposed in this paper. The available configurations have the problem of low measurement precision In a high dynamic environment due to channel coupling. The three channels were decoupled when calculating the angular velocity in the proposed configuration. The yawing and pitching angular velocity were directly measured by gyros, while only the rolling angular velocity was obtained by the GAMA-IMU indirectly from the rolling angular acceleration and quadratic component of rolling angular velocity. Then a single channel rolling angular velocity calculation model was established and the extended Kalman filter （EKF） was used to do state esti- mation. Simulations were carried out and results indicated that the calculation precision of the proposed 6A2G configuration could meet the demand of high precision measurement for a high-speed rotating carrier.
文摘本文研究带不确定方差乘性和加性噪声和带状态相依及噪声相依乘性噪声的多传感器系统鲁棒加权融合估计问题.通过引入虚拟噪声补偿乘性噪声的不确定性,将原系统化为带确定参数和不确定加性噪声方差的系统,进而利用Lyapunov方程方法提出在统一框架下的按对角阵加权融合极大极小鲁棒稳态Kalman估值器(预报器、滤波器和平滑器),其中基于预报器设计滤波器和平滑器,并给出每个融合器的实际估值误差方差的最小上界.证明了融合器的鲁棒精度高于每个局部估值器的鲁棒精度.应用于不间断电源(uninterruptible power system,UPS)系统鲁棒融合滤波的仿真例子说明了所提结果的正确性和有效性.
