MEMS陀螺随机误差建模及补偿应用研究

Research on Modeling and Compensation Application of MEMS Gyro Stochastic Error

为减小随机误差对MEMS陀螺输出信号的影响,提出一种ARMA模型结合Kalman滤波的方法实现对MEMS陀螺随机误差的补偿。通过Allan方差法分析MEMS陀螺随机误差,利用时间序列分析法对MEMS陀螺随机误差进行分析建模,并设计Kalman滤波器进行滤波处理和补偿。实验结果表明:ARMA模型结合Kalman滤波的方法对两款传感器的MEMS陀螺随机误差滤波效果明显,在保证无偏估计的前提下,对MEMS陀螺随机噪声具有良好的滤波效果。

In order to reduce the influence of stochastic error on the output signal of MEMS gyro,an ARMA model combined with Kalman filter is proposed.The method is used to realize the Random error of MEMS gyro of the compensated.The stochastic error of MEMS gyro is analyzed by Allan variance method,and the stochastic error of MEMS gyro is used by time series Analysis method.The analysis and modeling are carried out,and the Kalman filter is designed for filtering processing and compensation.The experimental results show that the ARMA model combined with Kalman filtering method to the MEMS of two sensors the stochastic error filtering effect of gyro is obvious,and it has a good filtering effect on the stochastic noise of MEMS gyro under the premise of ensuring unbiased estimation.