A feedback weighted fusion algorithm with dynamic sensor bias correction for gyroscope array

IF 1 4区工程技术 Q4 INSTRUMENTS & INSTRUMENTATION Metrology and Measurement Systems Pub Date : 2023-07-20 DOI:10.24425/mms.2021.136000

Ding Yuan, Yongyuan Qin, Xiaowei Shen, Zongwei Wu

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引用次数: 1

Abstract

Low-cost Micro-Electromechanical System (MEMS) gyroscopes are known to have a smaller size, lower weight,andlesspowerconsumptionthantheirmoretechnologicallyadvancedcounterparts.However,current low-gradeMEMSgyroscopeshavepoorperformanceandcannotcompetewithqualitysensorsinhigh accuracynavigationalandguidanceapplications.Themainfocusofthispaperistoinvestigateperformance improvementsbyfusingmultiplehomogeneousMEMSgyroscopes.Thesegyrosaretransformedinto avirtualgyrousingafeedbackweightedfusionalgorithmwithdynamicsensorbiascorrection.The gyroscopearraycombineseighthomogeneousgyroscopeunitsoneachaxisanddividesthemintotwo layersofdiﬀerentialconﬁguration.Thealgorithmusesthegyroscopearrayestimationvaluetoremovethe gyroscopebiasandthencorrectthegyroscopearraymeasurementvalue.Thenthegyroscopevarianceis recalculatedinrealtimeaccordingtotherevisedmeasurementvalueandtheweightedcoeﬃcientsand stateestimationofeachgyroscopearededucedaccordingtotheleastsquareprinciple.Thesimulations andexperimentsshowedthattheproposedalgorithmcouldfurtherreducethedriftandimprovetheoverall accuracybeyondtheperformancelimitationsofindividualgyroscopes.Themaximumcumulativeangle errorwas − 2 . 09 degrees after 2000 seconds in the static test, and the standard deviation (STD) of the output fusion value of the proposed algorithm was 0.006 degrees/s in the dynamic test, which was only 1.7% of the STD value of an individual gyroscope.

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陀螺仪阵列动态传感器偏置校正反馈加权融合算法

众所周知，低成本的微机电系统(MEMS)陀螺仪比技术更先进的陀螺仪尺寸更小，重量更轻，功耗更低。然而，目前低等级的mems陀螺仪性能差，无法与高质量的传感器在高精度导航和制导应用中竞争。Themainfocusofthispaperistoinvestigateperformance improvementsbyfusingmultiplehomogeneousMEMSgyroscopes。Thesegyrosaretransformedinto avirtualgyrousingafeedbackweightedfusionalgorithmwithdynamicsensorbiascorrection。陀螺仪阵列将八个同质陀螺仪单元组合在一起，并将其分为两层差分配置。Thealgorithmusesthegyroscopearrayestimationvaluetoremovethe gyroscopebiasandthencorrectthegyroscopearraymeasurementvalue。根据修正后的测量值，实时重新计算陀螺的方差，并根据最小二乘原理推导出各陀螺的加权系数和状态估计。仿真和实验表明，该算法可以进一步降低漂移，提高整体精度，超越单个陀螺仪的性能限制。最大累计角度误差为−2。在静态测试中，该算法的输出融合值的标准差(STD)为0.006度/s，仅为单个陀螺仪STD值的1.7%。

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来源期刊

Metrology and Measurement Systems INSTRUMENTS & INSTRUMENTATION-

CiteScore

2.00

自引率

10.00%

发文量

审稿时长

6 months

期刊介绍： Contributions are invited on all aspects of the research, development and applications of the measurement science and technology. The list of topics covered includes: theory and general principles of measurement; measurement of physical, chemical and biological quantities; medical measurements; sensors and transducers; measurement data acquisition; measurement signal transmission; processing and data analysis; measurement systems and embedded systems; design, manufacture and evaluation of instruments. The average publication cycle is 6 months.