两种惯性传感器数据融合.pdfVIP

33 3 Vol.33, No.3 2006 3 Opto-Electronic Engineering March, 2006 1003501X(2006 1 1 1, 2 1, 2 ( 1. 610209 2. 100039 ) DSP PID 10Hz (4.5dB, 25º) 1000Hz 2.346″ (RMS) TP212 A Data blending of two inertial sensors 1 1 1, 2 1, 2 WU Qiong-yan REN Ge HU Hao-jun CHEN Feng ( 1. The Institute of Optics and Electronics, the Chinese Academy of Sciences, Chengdu 610209, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100039, China ) Abstract According to the blending concept of regulating the long term characteristics of the resulting attitude angles using a closed-loop controller, blending filter of two inertial sensors that operate in different frequency ranges is formed by DSP. The measure data of lacking direct current (DC) and low frequency response on the angular rate sensor (ARS) is compensated by matching the measure data of low frequency on the dynamical tune gyro (DTG) using PID closed-loop controller. Experimental result indicates that the blended signal is identical with the actual signal except the frequency span about the crossover frequency 10 Hz (the max attenuation magnitude is -4.5 dB and the degree of phase-lag or phase-lead is 25°). The measure bandwidth of the blending filter can reach 1000Hz and the measure noise is 2.346″ (R