Estimating angular velocity from output of rateintegrating gyro
Abstract
It is shown that the Kalman filtering technique can be used to improve estimates of angular velocity in a strappeddown 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 secondorder constantcoefficient digital filter can yield significant improvement for very high or very low values of a defined noisetosignal ratio and that improvement is negligible for ratios of the order of unity.
 Publication:

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;
 RootMeanSquare Errors;
 Signal To Noise Ratios;
 Transfer Functions;
 Instrumentation and Photography