基于时间序列分析的Kalman滤波方法在MEMS陀螺仪随机漂移误差补偿中的应用研究  

Research on the Application of the Time-Serial Analysis Based Kalman Filter in MEMS Gyroscope Random Drift Compensation

作　　者：李杰[1] 张文栋[1] 刘俊[1] 

机构地区：[1]中北大学电子科学与技术系电子测试技术国防重点实验室,太原030051

出　　处：《传感技术学报》2006年第05B期2215-2219,共5页Chinese Journal of Sensors and Actuators

基　　金："十一五"装备预研项目资助(40404050101)

摘　　要：从工程实用的角度出发,探讨了MEMS陀螺仪随机漂移误差的有效补偿方法.首先采用时间序列分析的方法建立了MEMS陀螺仪的随机漂移误差模型,然后阐述了用基于时间序列模型的Kalman滤波方法减小该漂移误差的具体方法.对某MEMS陀螺仪实测数据的误差补偿结果表明,所介绍的滤波方法能够有效地抑制其漂移误差,提高MEMS陀螺仪在实际系统中使用精度.The compensating method for MEMS gyroscope random drift error is discussed. First its drift error model is created by using the time-serial analysis, then the process of decreasing this drift error by making use of Kalman filter based on the above error model is expounded. The compensating results for the practical testing data of a MEMS gyroscope show, the drift error can be controlled effectively by the filtering method presented, and its application precision in practical system can be further proved.

关 键 词：MEMS陀螺仪 随机漂移误差 时间序列分析 卡尔曼滤波 

分 类 号：V241.5[航空宇航科学与技术—飞行器设计]