The Kalman filtering technique can be used to improve estimates of angular velocity (in a strapped-down navigation system) using angular increment (rate integral) data. A simple, second-order, constant coefficient digital filter can yield significant improvement for a very high or a very low noise-to-signal ratio·r = 4 ¿¿/¿¿T2, where ¿¿ is the rms noise in measuring angular increments, ¿¿ is the rms angular acceleration, and T is the sampling time. For r ¿ 1, the filter affords negligible performance improvement.
Estimating Angular Velocity from Output of Rate-integrating Gyro
IEEE Transactions on Aerospace and Electronic Systems ; AES-11 , 4 ; 551-555
1975-07-01
785144 byte
Article (Journal)
Electronic Resource
English
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