AMA- and RWE- Based Adaptive Kalman Filter for Denoising Fiber Optic Gyroscope Drift Signal
An improved double-factor adaptive Kalman filter called AMA-RWE-DFAKF is proposed to denoise fiber optic gyroscope (FOG) drift signal in both static and dynamic conditions. The first factor is Kalman gain updated by random weighting estimation (RWE) of the covariance matrix of innovation sequence at...
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MDPI AG
2015-10-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/15/10/26940 |
| _version_ | 1798038325809905664 |
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| author | Gongliu Yang Yuanyuan Liu Ming Li Shunguang Song |
| author_facet | Gongliu Yang Yuanyuan Liu Ming Li Shunguang Song |
| author_sort | Gongliu Yang |
| collection | DOAJ |
| description | An improved double-factor adaptive Kalman filter called AMA-RWE-DFAKF is proposed to denoise fiber optic gyroscope (FOG) drift signal in both static and dynamic conditions. The first factor is Kalman gain updated by random weighting estimation (RWE) of the covariance matrix of innovation sequence at any time to ensure the lowest noise level of output, but the inertia of KF response increases in dynamic condition. To decrease the inertia, the second factor is the covariance matrix of predicted state vector adjusted by RWE only when discontinuities are detected by adaptive moving average (AMA).The AMA-RWE-DFAKF is applied for denoising FOG static and dynamic signals, its performance is compared with conventional KF (CKF), RWE-based adaptive KF with gain correction (RWE-AKFG), AMA- and RWE- based dual mode adaptive KF (AMA-RWE-DMAKF). Results of Allan variance on static signal and root mean square error (RMSE) on dynamic signal show that this proposed algorithm outperforms all the considered methods in denoising FOG signal. |
| first_indexed | 2024-04-11T21:38:40Z |
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| id | doaj.art-8b7774cad2c24bfaa21ff25135aa1386 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T21:38:40Z |
| publishDate | 2015-10-01 |
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| spelling | doaj.art-8b7774cad2c24bfaa21ff25135aa13862022-12-22T04:01:40ZengMDPI AGSensors1424-82202015-10-011510269402696010.3390/s151026940s151026940AMA- and RWE- Based Adaptive Kalman Filter for Denoising Fiber Optic Gyroscope Drift SignalGongliu Yang0Yuanyuan Liu1Ming Li2Shunguang Song3School of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, ChinaSchool of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, ChinaSchool of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, ChinaBeijing Institute of Spacecraft System Engineering, Beijing 100094, ChinaAn improved double-factor adaptive Kalman filter called AMA-RWE-DFAKF is proposed to denoise fiber optic gyroscope (FOG) drift signal in both static and dynamic conditions. The first factor is Kalman gain updated by random weighting estimation (RWE) of the covariance matrix of innovation sequence at any time to ensure the lowest noise level of output, but the inertia of KF response increases in dynamic condition. To decrease the inertia, the second factor is the covariance matrix of predicted state vector adjusted by RWE only when discontinuities are detected by adaptive moving average (AMA).The AMA-RWE-DFAKF is applied for denoising FOG static and dynamic signals, its performance is compared with conventional KF (CKF), RWE-based adaptive KF with gain correction (RWE-AKFG), AMA- and RWE- based dual mode adaptive KF (AMA-RWE-DMAKF). Results of Allan variance on static signal and root mean square error (RMSE) on dynamic signal show that this proposed algorithm outperforms all the considered methods in denoising FOG signal.http://www.mdpi.com/1424-8220/15/10/26940Adaptive Moving Average (AMA)Random Weighting Estimation (RWE)Fiber Optic Gyroscope (FOG)Kalman Filter (KF) |
| spellingShingle | Gongliu Yang Yuanyuan Liu Ming Li Shunguang Song AMA- and RWE- Based Adaptive Kalman Filter for Denoising Fiber Optic Gyroscope Drift Signal Sensors Adaptive Moving Average (AMA) Random Weighting Estimation (RWE) Fiber Optic Gyroscope (FOG) Kalman Filter (KF) |
| title | AMA- and RWE- Based Adaptive Kalman Filter for Denoising Fiber Optic Gyroscope Drift Signal |
| title_full | AMA- and RWE- Based Adaptive Kalman Filter for Denoising Fiber Optic Gyroscope Drift Signal |
| title_fullStr | AMA- and RWE- Based Adaptive Kalman Filter for Denoising Fiber Optic Gyroscope Drift Signal |
| title_full_unstemmed | AMA- and RWE- Based Adaptive Kalman Filter for Denoising Fiber Optic Gyroscope Drift Signal |
| title_short | AMA- and RWE- Based Adaptive Kalman Filter for Denoising Fiber Optic Gyroscope Drift Signal |
| title_sort | ama and rwe based adaptive kalman filter for denoising fiber optic gyroscope drift signal |
| topic | Adaptive Moving Average (AMA) Random Weighting Estimation (RWE) Fiber Optic Gyroscope (FOG) Kalman Filter (KF) |
| url | http://www.mdpi.com/1424-8220/15/10/26940 |
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