摘要
为了实现中精度、低成本的航姿参考系统,提出了一种基于低精度MEMS(Micro Elec-tronic Mechanical System)陀螺旋转调制技术的解决方案,研究了陀螺的刻度系数误差以及比例敏感漂移在旋转调制下的特性,分析了旋转调制技术可能引入的新误差,如旋转分解误差,涡动误差等;针对各种不同的误差源,给出了相应的误差补偿方法及补偿结果。实验结果表明,经误差补偿后,旋转调制可以将MEMS陀螺的精度提高近30倍,利用漂移为30°/h的MEMS陀螺可以实现优于1°/h的航姿保持精度。
In order to achieve medium-precision,low-cost attitude and heading reference system（AHRS）,the approach of using rotating modulation technology based on low-performance micro electronic mechanical system（MEMS） gyro is proposed.The features of gyro＇s scale factor error and acceleration related error in rotation-modulation situation are studied.The new errors caused by rotation-modulation are also analyzed such as rotating decomposition error,whirlpool error,etc.For different error sources,the compensation methods and the corresponding compensation results are given.Experiment results show that,after error compensation,the rotation-modulation approach can improve the performance of MEMS gyro by about 30times,the system＇s attitude and heading maintain accuracy will be better than 1°/h by using the 30°/h-drift MEMS gyro.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2011年第6期691-696,共6页
Acta Armamentarii
关键词
飞行器控制、导航技术
旋转调制
航姿参考系统
误差模型
微机电系统
陀螺
control and navigation technology of aerocraft
rotation-modulation
attitude and heading reference system
error model
micro electronic mechanical system
gyro
