微机电系统陀螺仪随机漂移误差建模与滤波研究

Research on Modeling and Filter of Micro Electro Mechanical System Gyroscope Random Drift

随机漂移是微机电系统(MEMS)陀螺的主要误差,建立其数学模型并在输出中加以补偿是抑制该项误差、提高MEMS陀螺精度的有效方法。采用Allan方差对MEMS陀螺实测数据进行了分析,并采用时间序列分析法建立了随机漂移模型。根据建立的漂移模型,就如何利用Kalman滤波抑制随机漂移误差进行了分析和研究。

Random drift is the main error of Micro Electro Mechanical System（MEMS） gyroscope. It＇s an efficient method to reduce the random drift and improve the accuracy by modeling and compensating in the output of MEMS gyroscope. Allan variance is used for analyzing the measured data of MEMS gyroscope, and its random drift is modeled by analytical method of time series. Based on the established model, it＇s analyzed and researched how to reduce the random drift by Kalman filter.