Application of the adaptive kalman filter in the MEMS gyro signal processing

JI Xun-sheng~

doi:10.13873/j.1000-97872006.09.026

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Application of the adaptive kalman filter in the MEMS gyro signal processing

更新时间：2025-09-11

- Application of the adaptive kalman filter in the MEMS gyro signal processing
- Issue 9, Pages: 79-81+85(2006)
- 作者机构：
  
  1. 江南大学信控学院
  2. 东南大学仪器科学与工程系
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872006.09.026
  CLC： V241.5
- Published：2006
- 稿件说明：
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[1]吉训生,王寿荣,许宜申,盛平.自适应Kalman滤波在MEMS陀螺仪信号处理中的应用[J].传感器与微系统,2006(09):79-81+85.

JI Xun-sheng~. Application of the adaptive kalman filter in the MEMS gyro signal processing[J]. 2006, (9): 79-81+85.
[1]吉训生,王寿荣,许宜申,盛平.自适应Kalman滤波在MEMS陀螺仪信号处理中的应用[J].传感器与微系统,2006(09):79-81+85. DOI： 10.13873/j.1000-97872006.09.026.

JI Xun-sheng~. Application of the adaptive kalman filter in the MEMS gyro signal processing[J]. 2006, (9): 79-81+85. DOI： 10.13873/j.1000-97872006.09.026.

摘要

通过中值滤波和均值滤波的有机结合

可以去除MEMS陀螺仪漂移中的"野点"信号。基于Haar小波基的小波变换

寻找到了一种易于实时在线实现的漂移特征提取方法。对残差信号进行二阶AR模型分析建模后

利用改进的自适应Kalm an滤波算法

对残差信号进行滤波

提高了被处理漂移信号的精度。实际测量数据的处理结果验证了该MEMS陀螺仪去漂移方法的有效性。

Abstract

The outlier signal from the MEMS gyro drift could be got rid of effectively by uniting the mean filter and the median filter.Based on the wavelet transformation of the Haar basis

a method to extract the character of the gyro drift signal has been found

the method is fit for the implementation in real-time on-line.After the residual signal is modeled by a 2-order AR

an improved adaptive Kalman filtering algorithm is used to filter the signal.The accuracy of drift signal is improved greatly.The processed result from the practical gyro measurement shows the method of the de-drift is effective.

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references

卡尔曼滤波在多维AR序列建模中的应用 [J]. 张朝玉. 大地测量与地球动力学 . 2003(02)

在线小波变换技术在气体传感器漂移故障检测中的应用 [J]. 丁晖,刘君华,申忠如. 西安交通大学学报 . 2002(12)

自适应滤波算法与实现[M]. 电子工业出版社 , (英)PauloS.R.Diniz著, 2004

Kalman滤波理论及其在导航系统中的应用[M]. 科学出版社 , 付梦印等编著, 2003

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