基于扩展卡尔曼滤波的加速度计特性估计方法

加速度计使用时,通常都需要对其标度因素、零偏以及敏感轴进行标定.为了准确标定加速度计的特性参数,提出了5位置连续测量法,对其不同姿态下的输出进行综合测量,可准确地反映不同姿态下的工作状态以及性能参数.建立了相应的测量模型,根据模型的非线性特性,采用扩展卡尔曼滤波算法(EKF)对实测数据进行滤波处理.实验结果表明,加速度计的零偏、标度因素、敏感轴方向等参数得到了准确标定.

Estimation of Accelerometer Specifications Based on Extended Kalman Filter

ome specifications such as bias,scale factor and sensing axis should be calibrated before accelerometers are put in use.For this purpose,a five-position method for accelerometer calibration is proposed.With the proposed method,the outputs of the accelerometers in different attitude can be measured,so the specifications of the accelerometer are precisely calibrated.According to nonlinear characteristic of constructed accelerometer model,the extended Kalman filter algorithm is used for data processing.The experimental results show that the specifications of the accelerometer are calibrated precisely.