摘要
针对MEMS(Micro-Electro-Mechanical System)陀螺仪的随机漂移误差,探讨其有效补偿方法.基于陀螺仪输出角速率信息的变化量是等随机和等随机加速的两种假设,提出了两种相应的基于Kalman滤波理论的MEMS陀螺仪随机误差补偿方法.在建立陀螺仪随机误差模型的基础上,详细推导了各自的Kalman滤波方程,最后以某微惯性测量系统中所用MEMS陀螺仪的输出信号分析为例,对两种滤波方法作了实验验证.理论分析和实验结果表明:所提出的两种误差补偿方法是正确有效的,且后一种方法的滤波与跟踪效果比前一种更好.
Aiming at the random drift error of MEMS gyroscope, its efficient compensating methods were discussed. According to the hypotheses of the mean stochastic change and mean stochastic speedup change of the MEMS gyro＇s angle rate, two corresponding methods for compensating the random error of MEMS gyroscope based on the Kalman filter were proposed. By establishing the model of the random error, their respective Kalrnan filter equation was deduced in detail. Taking a MEMS gyro in a micro inertial measurement system as the example, two filtering methods are validated by experiments. The theory analysis and the experiment results show that two methods are correct and effective, and the latter is better than the former in the aspects of the filtering and tracking effect.
出处
《中北大学学报（自然科学版）》
CAS
北大核心
2009年第4期381-385,共5页
Journal of North University of China(Natural Science Edition)
基金
国家自然科学基金资助项目(50675213)
