多MEMS陀螺数据融合系统的设计和实现

Design and implementation of multi-MEMS gyroscope data fusion system

微机电系统陀螺仪以其成本低廉和小巧方便已经广泛应用于军民领域,但是其仍然面临着零偏稳定性不够高的问题。针对这种现象,设计了一套空间大小仅为45 mm×55 mm×30 mm的可扩展可移植的硬件平台,在此平台上利用小波域多尺度融合算法,对4个微机电陀螺仪所采集的原始数据进行实时小波融合处理。分别对该集成系统在静态和动态环境下进行测试,实验结果表明,该系统运行稳定可靠,融合处理后的数据标准差都比融合前降低了一个量级。

Micro Electro mechanical Systems （MEMS） gyroscope has been widely used in military and civilian fields due to its low cost and compactness, but there is still issue of insufficient zero-bias stability. To improve this performance, a scalable and portable hardware platform with a size of only 45mm×55mm×30mm is designed in this paper. On this platform, multi-scale fusion algorithm in wavelet domain is applied to process the original data of the four MEMS gyroscopes by real-time wavelet fusion. The test results show that the system is stable and reliable, and the variance of fused data is reduced by one order of magnitude compared with the original variance.