MEMS gyro signal preprocessing technology based on ITD and approximate entropy

An approximate entropy and preprocessing technology, applied in the field of inertial navigation systems, can solve the problems of the influence of gyroscope modeling accuracy, difficult to build models, modal aliasing, etc., to reduce modal aliasing phenomenon, improve output accuracy, The effect of precise navigation

Pending Publication Date: 2022-07-15
HUNAN AEROSPACE ELECTROMECHANICAL EQUIP & SPECIAL MATERIAL INST
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Problems solved by technology

This method needs to stabilize, normalize, and zero-mean the output data of the gyroscope, which will affect the modeling accuracy of the gyroscope, so it is only suitable for modeling a smooth random sequence
[0004] However, the MEMS gyroscope output noise is nonlinear and non-stationary, so it is difficult to establish a corresponding model and compensate for random errors. Therefore, some scholars have proposed the empirical mode decomposition (EMD) method, which relies on the time scale of the data itself to perform multi-dimensional analysis of the signal. Sub-adaptive decomposition, and there is no need to pre-set the basis function in the decomposition process, but this method has the disadvantage of prone to modal aliasing

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  • MEMS gyro signal preprocessing technology based on ITD and approximate entropy
  • MEMS gyro signal preprocessing technology based on ITD and approximate entropy
  • MEMS gyro signal preprocessing technology based on ITD and approximate entropy

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[0036] The present invention will be described in detail below with reference to specific implementation cases.

[0037] The present invention provides a MEMS gyro signal preprocessing technology based on ITD and approximate entropy. The schematic diagram of the method is as follows: figure 1 shown. The purpose of this invention is to realize through the following steps:

[0038] 1. Place the MEMS gyroscope on the marble and connect it to the computer interface for preheating and data acquisition.

[0039] 2. The original signal is decomposed into a baseline signal and an IRC component, that is

[0040] X t =LX t +(1-L)X t =L t +H t

[0041] where L is the baseline extraction factor, L t =LX t is the baseline signal, H t =(1-L)X t is the IRC component.

[0042] 3. From signal X t Extract the local extrema X from k (k=1,2,...,M) and the corresponding time τ k , M is the number of extreme points. define τ 0 =0, which means that when τ k The time of the corresp...

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Abstract

The invention provides an MEMS (Micro-Electro-Mechanical System) gyroscope signal preprocessing technology based on ITD (Intrinsic Time-scale Decomposition) and approximate entropy, and the method comprises the following steps of: firstly, decomposing a measurement signal of a micro-electro-mechanical system (MEMS) gyroscope into a series of IRC (Intrinsic Rotation) components by utilizing ITD (Intrinsic Time-scale Decomposition); and then calculating the variation of the approximate entropy of the adjacent IRC components by using the approximate entropy, finding out the numerical value of the IRC component corresponding to the maximum entropy variation, separating the effective signal component from the noise signal component, and finally completing the reconstruction of the signal. The invention belongs to a signal processing method in the field of inertial navigation systems, and particularly relates to a technology for carrying out noise preprocessing on an output signal of an MEMS (Micro Electro Mechanical System) gyroscope.

Description

technical field [0001] The invention relates to a signal processing method for inertial devices in the field of inertial navigation systems, in particular to a technology for noise preprocessing on the output signal of a Micro-Electro-Mechanical System (MEMS) gyroscope. Background technique [0002] With the development of micro-electromechanical systems (MEMS), MEMS gyroscopes are widely used in aerospace navigation, consumer electronics, agricultural production and other fields. Compared with laser gyroscopes and hemispheric resonant gyroscopes, MEMS gyroscopes have the advantages of low cost, small size and high integration. However, MEMS gyroscopes are easily affected by external environmental factors, including temperature, electromagnetic interference, etc., resulting in a large amount of noise in the output. Therefore, it is necessary to analyze the noise error characteristics of MEMS gyroscopes and study its noise suppression technology, so as to improve the performan...

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 夏旭李良君高伟孙骞张亚
Owner HUNAN AEROSPACE ELECTROMECHANICAL EQUIP & SPECIAL MATERIAL INST
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