Real-time noise reduction system and real-time noise reduction method of accelerometer and gyroscope

Abstract

The invention discloses a real-time noise reduction system of an accelerometer and a gyroscope. The real-time noise reduction system comprises an inert measurement unit, an information processing unit and a navigation computer, wherein the inert measurement unit is used for extracting the measurement information of the accelerometer and the gyroscope information and transmitting the information to the processing unit for performing real-time noise reduction processing, and finally the navigation computer is used for utilizing processed measurement information and outputting the navigation information. The invention further discloses a real-time noise reduction method of the accelerometer and the gyroscope, the real-time noise reduction method comprises the following steps: establishing a single input single output kalman filtering equation and an observation equation of the accelerometer and the gyroscope, and performing online adjustment on kalman filtering gain matrix and an observation noise tolerance matrix according to the mechanical situation to realize the noise reduction treatment for the measurement information of the accelerometer and the gyroscope by utilizing the working characteristics of the kalman filter, so that the random measurement noise can be effectively reduced, and the good measurement precision of the accelerometer and the gyroscope under movable and static environments can be achieved by online adjustment of the filtering parameters.

Description

technical field [0001] The invention relates to accelerometer and gyroscope noise reduction, in particular to a real-time noise reduction system and method for accelerometer and gyroscope. Background technique [0002] Inertial measurement units are widely used in inertial navigation systems. Among them, the bias stability, constant error, scale coefficient error, nonlinear error and random noise of inertial measurement units have a great impact on the alignment accuracy and navigation solution of inertial navigation systems. Calculation accuracy plays a decisive role. Therefore, it is very important to improve the measurement accuracy and reliability of the inertial measurement unit. An effective way to improve the measurement accuracy of the inertial measurement unit is to reduce the measurement noise of the inertial measurement unit and improve the signal-to-noise ratio. [0003] In the early days, the simplest method for IMU noise reduction mainly focused on the design...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problem of effectively filtering the random measurement noise of the accelerometer and gyroscope in both dynamic and static environments, the present invention provides a real-time noise reduction system and a real-time noise reduction method for the accelerometer and gyroscope, so as to reduce Filtering delay, reducing the amount of calculation, and improving the measurement accuracy of the accelerometer and gyroscope

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