Paper title: A MODIFIED ADAPTIVE KALMAN FILTER FOR FIBER OPTIC GYROSCOPE
Author(s): VOLKAN Y. SENYUREK, ULVI BASPINAR, HUSEYIN S. VAROL,
Abstract: In this article, an adaptive Kalman filter was designed in order to filter angle random
walk (ARW) and rate random walk (RRW) noises observed in the output of the fiber
optic gyroscope (FOG). Especially in case of rapid maneuvers, a new innovation
approach, which is based on adaptive mechanism, has been introduced to overcome the
shortcomings of conventional and innovation-based adaptive Kalman filters. Process
and measurement noise covariances Q and R were estimated successfully and by using
these parameters comparisons of conventional and adaptive Kalman filters were made
on both real and artificial signals. The results of this study shows that the designed filter
reduces ARW, RRW and flicker noises successfully.
Keywords: Fiber optic gyroscope, Adaptive Kalman filter, Allan variance, Noise
covariance matrix, Angle random walk (ARW), Rate random walk (RRW) Year: 2014 | Tome: 59 | Issue: 2 | Pp.: 153-162
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