吉林大学学报(工学版) ›› 2017, Vol. 47 ›› Issue (6): 1868-1875.doi: 10.13229/j.cnki.jdxbgxb201706027

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Gyro signal processing based on strong tracking Kalman filter

ZHU Feng1, 2, 3, ZHANG Bao1, 2, LI Xian-tao1, 2, WANG Zheng-xi1, 2, 3, ZHANG Shi-tao1, 2, 3   

  1. 1.Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China;
    2.Key Laboratory of Airborne Optical Imaging and Measurement, Chinese Academy of Sciences,Changchun 130033,China;
    3.University of Chinese Academy of Sciences, Beijing 100049, China
  • Received:2016-08-24 Online:2017-11-20 Published:2017-11-20

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Abstract: To overcome the problem that the low measuring precision of the gyroscope leads to degradation of Line of Sight (LOS) stabilization accuracy of photoelectric stabilized platform for aviation, a strong tracking Kalman filter was designed. According to the principle of the time sequence analysis from the random series, Autoregressive method (AR) was adopted to model the preprocessed data measured by the gyroscope. The state-space method was used to design the Kalman filter. In the meantime, in order to increase the control system's robustness, the strong tracking algorithm was introduced to correct the variance of state prediction in real time to construct the strong tracking Kalman filter. The theory and principle of the algorithm were described and applied to the photoelectric stabilized platform for aviation. The results show that the variance of signal was reduced by 44.1% after filtering using the strong tracking Kalman filter, and the dispersion was apparently reduced. At the same time, comparing with the Butterworth filter, the strong tracking Kalman filter shortens the overshoot by 13%, cut down the rise time by 3 ms, shortens the regulation time by 37.5 ms, keeps the platform in good dynamic properties. The study indicated that the strong tracking Kalman filter has strong application value.

Key words: automatic control technology, LOS stabilization accuracy, strong tracking Kalman filter, gyroscope

CLC Number: 

  • TP273
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