基于卡尔曼滤波的MEMS陀螺仪漂移补偿  

Compensation of MEMS gyroscope error based on Calman filter

作　　者：陈晨[1] 赵文宏[1] 徐慧鑫[1] 周芬芬[1] 安平[1] 

机构地区：[1]浙江工业大学超精密加工实验室,浙江杭州310014

出　　处：《机电工程》2013年第3期311-313,321,共4页Journal of Mechanical & Electrical Engineering

摘　　要：为解决MEMS陀螺仪在测量过程中容易产生漂移的问题,将卡尔曼算法应用于陀螺仪的漂移补偿中。分析了陀螺仪误差源,建立了陀螺仪误差模型,提出了用卡尔曼滤波算法处理陀螺仪零点随机误差的方法,通过运用Allan方差分析法评价了卡尔曼滤波效果;最后,在转速测试平台上进行了陀螺仪测量试验。研究结果表明,通过建立误差模型和采用卡尔曼滤波算法能有效减小陀螺仪测量过程中的漂移。Aiming at solving the problem that it is easy to produce the error of MEMS gyroscope in the test,the Caiman algorithm was investigated. After the analysis of the cause of the error of the gyroscope, the error model of gyroscope was established. The Caiman filter algorithm was presented and the effect of Caiman filter was evaluated on the Allan variance method, the gyroscopes were tested on the rotating speed device. The experimental results indicate that the combination of model and Caiman filter can reduce the error of gyroscope in the test.

关 键 词：MEMS陀螺仪 卡尔曼滤波 Allan方差分析法 

分 类 号：TH161.7[机械工程—机械制造及自动化] TH89