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陀螺误差建模

于 2022-07-16 发布 文件大小:2.17 MB
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MEMS陀螺随机误差建模算法研究。MEMS陀螺精度较低,随机漂移较大,严重影响系统的性能。对MEMS陀螺随机误差进行了时间序列分析,并建立了ARMA模型。使用MATLAB计算所选模型参数建立随机误差的系统方程,采用经典卡尔曼滤波器验证了在静态条件下,滤波后的信号标准差为滤波前的3.88%。针对动态条件下,常规卡尔曼滤波器滤波效果下降的问题,推导并设计了渐消卡尔曼滤波器。仿真结果表明,渐消卡尔曼滤波器能显著改善动态条件下的滤波效果,并且滤波精度较高。

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