滤波技术在MIMU温度漂移补偿中的应用

Application of filtering in temperature compensation of MIMU

为了提高MIMU的零偏稳定性,研究了MIMU的温度特性。通过温度实验,建立了微机械陀螺及加速度计漂移的温度补偿模型。陀螺零偏稳定性由补偿前的126.324(o)/h改善到9.612(o)/h,加速度计偏值稳定性由补偿前的0.836mg改善到0.216mg。分析了温度测量噪声的影响,对补偿模型进行了改进。将温度的测量值经过Kalman滤波之后用于补偿,可以进一步提高性能:陀螺零偏稳定性由9.612(o)/h改善到8.964(o)/h,改善了6.7%;加速度计偏值稳定性由0.216mg改善到0.176mg,改善了18%。实验结果表明,将温度测量值进行适当的滤波处理后用于补偿模型,补偿效果比不经过处理进行补偿的结果更优。利用Kalman滤波技术降低温度测量值的噪声,最终降低补偿结果的噪声也是文中的一个创新点。

To improve the bias stability of MIMU, the temperature characteristic of MIMU was studied. Based on temperature experiments, the bias compensation models for gyroscope and accelerometer were established. With the help of the models, the bias stabilities of the gyroscope and accelerometer were improved from 126.324 （°）/h to 9.612 （°）/h, and from 0.836 mg to 0.216 mg respectively. A Kalman filter based on the measurement noise of temperature was designed which improved the bias stability of the gyroscope and the accelerometer by 6.7% and 18% respectively Experiments show that compensation effects using filtered temperature value is better than those of using raw temperature value in temperature compensation of MIMU. Using Kalman filter to reduce the noise of temperature value and compensation results is an innovation method.