面向蜂巢式微机电陀螺模态交换工作模式的卡尔曼滤波

Kalman Filter for Honeycomb MEMS Gyroscope Working in Mode Reversal

该文对模态交换工作模式下的蜂巢式微机电陀螺进行了噪声成分分析,并建立了噪声模型。提出采用卡尔曼滤波降低陀螺输出白噪声的方法,从而提升陀螺的静态性能,该方法可用于惯性寻北。实验结果表明,经滤波后陀螺输出在采样时间1 s下与未滤波前的平滑时间100 s下的陀螺输出噪声水平相当。陀螺输出白噪声幅值降低,从而缩短寻北时间。实际应用中,最短寻北时间可由卡尔曼滤波初值收敛后的时间进行标定。

In this paper,we analyze the noise components of the honeycomb MEMS gyroscope working in mode reversal and establish the noise model.It is proposed to use Kalman filter to reduce the white noise of the gyroscope output,so as to improve the static performance of gyroscope.The proposed method can be used for inertial north-finding.The experimental results show that the noise level of the filtered gyroscope output at 1 second sampling time is comparable to that of the unfiltered gyroscope output at 100-seconds smoothing time.The amplitude of the white noise of the gyroscope output is reduced,thereby reducing the north-finding time.In practical applications,the minimum north-finding time can be calibrated by the time after the initial value of the Kalman filter converges.