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激光陀螺的高频机抖使得激光陀螺惯性测量单元(inertial measurement unit,IMU)的测量数据包含较大的随机噪声。传统标定方法通过延长测量时间来消除对随机噪声影响,降低了标定效率。提出应用自适应前向线性预测(forward linear prediction,FLP)滤波对激光IMU的标定数据进行降噪,在较小标定数据量情况下提高系统的标定精度。首先通过四方位正反速率标定试验获得原始标定数据;然后通过自适应FLP滤波器对标定数据进行噪声抑制;最后利用去噪后的数据计算标定参数。实验结果表明,该方法能够有效抑制标定数据中的随机噪声,提高信号的信噪比,从而在标定数据量较小的情况下得到较高精度的标定参数,提升系统的导航精度。
The high frequency jitter of the laser gyro makes the measurement data of the inertial measurement unit (IMU) of the laser gyro contain large random noise. The traditional calibration method can reduce the impact of random noise and reduce the calibration efficiency by extending the measurement time. It is proposed to apply adaptive forward linear prediction (FLP) filtering to denoise the calibration data of laser IMU and to improve the calibration accuracy of the system with a small amount of calibration data. Firstly, the original calibration data is obtained through four-directional forward and reverse velocity calibration experiments. Then, the calibration data is noise-suppressed by the adaptive FLP filter. Finally, the calibration parameters are calculated by using the de-noised data. The experimental results show that this method can effectively suppress the random noise in the calibration data and improve the signal-to-noise ratio of the calibration data, so that the calibration parameters with higher accuracy can be obtained when the calibration data is small and the navigation accuracy of the system is improved.