摘要
该文介绍了一种实用的MEMS陀螺仪随机误差滤除方法,该方法是基于Allan方差和Kalman滤波的一种组合式滤波方法,用Allan方差法辨识MEMS陀螺仪的随机误差项,以确定Kalman滤波方程中过程噪声和观测噪声的协方差矩阵。并以挪威生产的STM202 MEMS陀螺仪进行了实例验证,效果良好。
This paper describes a practical MEMS gyroscope random error filtering method,which is a combined filter method based on Allan variance and Kalman filtering. In order to determine the process noise and measurement noise covariance matrix in the Kalman filtering equation,We use the Allan variance method to identify the error terms of MEMS gyroscope. At last,we use the STIM202 MEMS gyroscope as an example and have a good effect.
出处
《自动化与仪表》
北大核心
2014年第8期65-69,共5页
Automation & Instrumentation
基金
863基金项目(2013AA8094028C)
