{"title":"Moving Horizon Estimation and Attitude Optimization Algorithm for MEMS Gyroscope Array","authors":"Zeng Lijun, Min Fang","doi":"10.1109/IAEAC.2018.8577857","DOIUrl":null,"url":null,"abstract":"Silicon micro gyroscopes have been widely used in medium-low precision strap-down inertial navigation system (SINS). The output precision of silicon micro gyroscopes array can be improved by data fusion. Based on Kalman filtering for gyroscopes output, a Moving Horizon Estimation (MHE) algorithm was studied which made use of several former measurements. The optimized output estimation can be acquired by MHE. Based on single-sample rotation vector algorithm for SINS, an optimized three-sample attitude algorithm was designed. Experiments show that the noise variation after MHE with prediction horizon equaling 3 can be reduced to 2.1273s−2. Under conical motion condition, the optimized three-sample attitude algorithm can reduce the gyroscope drift effectively.","PeriodicalId":6573,"journal":{"name":"2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference (IAEAC)","volume":"48 1","pages":"2464-2468"},"PeriodicalIF":0.0000,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference (IAEAC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IAEAC.2018.8577857","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
Silicon micro gyroscopes have been widely used in medium-low precision strap-down inertial navigation system (SINS). The output precision of silicon micro gyroscopes array can be improved by data fusion. Based on Kalman filtering for gyroscopes output, a Moving Horizon Estimation (MHE) algorithm was studied which made use of several former measurements. The optimized output estimation can be acquired by MHE. Based on single-sample rotation vector algorithm for SINS, an optimized three-sample attitude algorithm was designed. Experiments show that the noise variation after MHE with prediction horizon equaling 3 can be reduced to 2.1273s−2. Under conical motion condition, the optimized three-sample attitude algorithm can reduce the gyroscope drift effectively.
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