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Mathematical Problems in Engineering
Volume 2014, Article ID 768590, 10 pages
Research Article

Online Estimation of ARW Coefficient of Fiber Optic Gyro

Electrical Engineering College, Naval University of Engineering, Wuhan 430033, China

Received 22 October 2013; Revised 13 April 2014; Accepted 24 April 2014; Published 20 May 2014

Academic Editor: Slim Choura

Copyright © 2014 Yang Li et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


As a standard method for noise analysis of fiber optic gyro (FOG), Allan variance has too large offline computational burden and data storages to be applied to online estimation. To overcome the barriers, the state space model is firstly established for FOG. Then the Sage-husa adaptive Kalman filter (SHAKF) is introduced in this field. Through recursive calculation of measurement noise covariance matrix, SHAKF can avoid the storage of large amounts of history data. However, the precision and stability of this method are still the primary matters that needed to be addressed. Based on this point, a new online method for estimation of the coefficient of angular random walk is proposed. In the method, estimator of measurement noise is constructed by the recursive form of Allan variance at the shortest sampling time. Then the estimator is embedded into the SHAKF framework resulting in a new adaptive filter. The estimations of measurement noise variance and Kalman filter are independent of each other in this method. Therefore, it can address the problem of filtering divergence and precision degrading effectively. Test results of both digital simulation and experimental data of FOG verify the validity and feasibility of the proposed method.