Estimating angular velocity from output of rate-integrating gyro
Abstract
It is shown that the Kalman filtering technique can be used to improve estimates of angular velocity in a strapped-down navigation system on the basis of angular increment (rate integral) data. A model for the evolution of the angular velocity is developed, and estimation equations are obtained by applying the general equations of Kalman filtering to the model. It is found that a simple second-order constant-coefficient digital filter can yield significant improvement for very high or very low values of a defined noise-to-signal ratio and that improvement is negligible for ratios of the order of unity.
- Publication:
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IEEE Transactions on Aerospace Electronic Systems
- Pub Date:
- July 1975
- DOI:
- 10.1109/TAES.1975.308119
- Bibcode:
- 1975ITAES..11..551F
- Keywords:
-
- Angular Velocity;
- Digital Filters;
- Gyroscopes;
- Inertial Navigation;
- Kalman Filters;
- Strapdown Inertial Guidance;
- Root-Mean-Square Errors;
- Signal To Noise Ratios;
- Transfer Functions;
- Instrumentation and Photography