基于Kalman滤波的MEMS陀螺测量误差估计研究

Estimate to Measuring Error of the MEMS Gyroscope ADXRSl50 Based on the Kalman Filter Algorithm

针对微机械陀螺仪存在的测量精度较低的问题,本文采用Kalman滤波算法,对微机械陀螺仪在测量上存在的零位误差、标度因数误差、非线性平方敏感误差、加速度的敏感误差等进行了估计,建立了Kalman滤波的微机械陀螺仪测量误差估计模型,并采用Kalman滤波器对微机械陀螺仪的各项误差进行估计分析。分析结果表明,除了非线性平方敏感误差对不同角速率值的影响近似相同外,其他各项误差随着工作角速率的大小变化而变化,误差对小角速率工作测量影响较大。因此,使用微机械陀螺仪对精密仪器运动角速率测量时,要对其测量结果按标定曲线进行修正。该研究作为实际测量速率的有效补偿,提高了测量精度,具有一定的实际应用价值。

Aiming at the problem of the precision existing in micro electro mechanical systems, the error which exists in the measurement of MEMS gyro is estimated by using the Kalman filter algorithm, inclu- ding zero error, scale factor error, nonlinear square sensitive error and acceleration sensitive error, estab- lishing the Kalman filtering estimation model of MEMS error, using Kalman filtering to estimate and ana- lyze the error of MEMS. The analytical results show that, in addition to the effects of nonlinear square sen sitive error for different angular velocity measurement are approximately the same, the other error changes with the different angular velocity measurement, and error of gyroscope has a great impact on the small an- gular velocity measurement. Therefore when using MEMS gyroscope to estimate on the angular velocity of movement of precision instrument, we must modify the measurement result according to the calibration curve. This survey as the effective compensation of actual measurement rate, improves the measurement precision. This study has a certain practical application value.