微机械陀螺零位误差的研究

Study on Zero Position Error of Micro-Machined Gyro

针对微机械陀螺仪零位误差严重影响制导系统的定位精度问题，提出了时间分段的零位补偿方法．该方法将零住校准时闯进行分段，在准备时间段采用均值滤波，将静态零偏值一次性基本校除，在工作初始时间段内根据特性建立一阶或高阶补偿模型校零，对准静态零偏值进行校除．经实验验证，该方法使零偏值比校正前降低了90％以上．为进一步提高补偿精度，提出了应用传递对准这一零位补偿方法，即结合载体高精度方位信号校正微型陀螺仪测量组件系统初始零位值，有效地提高了校零的时效性．仿真实验表明：传递对准最佳起始时刻在陀螺仪稳定工作后10-30ms后，主、子系统传递对准时间长度可在几百毫秒内，零住误差在载体抖动频率范围内可以被限定在0．01（°）／s以下，主、子系统同步时差所引起的误差项呈毫秒级周期性变化．

Based on the analysis of zero characteristic for low precision gyros, a new time-division zero calibration method was proposed to solve the problem that the zero position error of the micro-machined gyro seriously affect the location precision of the guide system composted of the gyro. The method divides the calibrating time into two segments, the mean value filter is adopted to remove the static bias in the first segment, and certain mathematics model is built to eliminate semi-static bias in the second segment. The experiment indicates the bias is reduced by more than 90% in this way. To further improve the compensation precision, a zero position compensation method of transfer alignment was presented, i.e. combining with the high precision position signal of carrier to calibrate the original zero position of inertial measurement unit of the micromachined gyro. Simulation experiments show that the starting time of the optimal alignment is in 20-30 ms after gyro is stabilized. The length of alignment time of master and sub-system can be restricted within several hundred milliseconds and zero position error can be limited to less than 0. 01 （°）/s in the range of the carrier sway frequency. The error caused by synchronous time difference of the master and sub-system is changed periodically in ms order.