High precision estimation of inertial rotation via the extended Kalman filter
High precision estimation of inertial rotation via the extended Kalman filter
复制标题
通过扩展卡尔曼滤波器高精度估计惯性旋转
DOI：
10.1140/epjd/e2015-60372-4
复制
发表时间：
2015
影响因子：
1.8
通讯作者：
Xi Zairong
中科院分区：
文献类型：
--
作者：
Liu Lijun;Qi Bo;Cheng Shuming;Xi Zairong
摘要近年来技术的发展使原子陀螺仪成为最灵敏的惯性传感器。原子自旋陀螺仪基本上输出待测量的惯性旋转速率的估计。本文提出了一种简单而有效的用于原子自旋陀螺的估计方法--扩展卡尔曼滤波（EKF）。数值结果表明，EKF方法比目前灵敏度最高的原子陀螺所采用的稳态估计方法精度高得多。具体而言，在相同的响应时间下，EKF方法得到的均方根误差比稳态估计方法得到的均方根误差至少小103倍。图形摘要
AbstractRecent developments in technology have enabled atomic gyroscopes to become the most sensitive inertial sensors. Atomic spin gyroscopes essentially output an estimate of the inertial rotation rate to be measured. In this paper, we present a simple yet efficient estimation method, the extended Kalman filter (EKF), for the atomic spin gyroscope. Numerical results show that the EKF method is much more accurate than the steady-state estimation method, which is used in the most sensitive atomic gyroscopes at present. Specifically, the root-mean-squared errors obtained by the EKF method are at least 103times smaller than those obtained by the steady-state estimation method under the same response time.Graphical abstract