插秧机微机械陀螺随机误差分析及建模  

Random error analysis and modeling for micromechanical gyro of transplanter

作　　者：刘晓光[1,2] 胡静涛[1] 白晓平[1,2] 李逃昌[1,2] 高雷[1,2] 

机构地区：[1]中国科学院沈阳自动化研究所,沈阳110016 [2]中国科学院大学,北京100049

出　　处：《中国惯性技术学报》2013年第2期250-254,共5页Journal of Chinese Inertial Technology

基　　金：田间作业智能控制关键技术与装备研发(2011BAD20B06);中国科学院知识创新工程重要方向项目(KGCX2-YW-138)

摘　　要：微机械陀螺广泛应用于组合导航系统。以插秧机GPS/INS组合导航系统为研究背景,针对微机械陀螺的误差进行了研究。为了提高插秧机组合导航系统的定位精度,首先通过分析微机械陀螺的工作原理对微机械陀螺的误差来源和分类进行了深入的分析,说明微机械陀螺的随机误差是影响插秧机组合导航系统定位精度的一个主要因素。然后基于时间序列的分析建立了微机械陀螺的AR随机误差模型,并利用此模型采用Kalman滤波算法对采集的试验数据进行处理。实验结果表明,在采用AR模型后,微机械陀螺的随机误差的方差减小了一个数量级,随机误差的幅值也明显减小。Micromechanical gyro is a widely used in integrated navigation system. In this paper, the micromechanical gyro error was studied based on the transplanter GPS/INS integrated navigation system. In order to improve the positioning accuracy of transplanter GPS/INS integrated navigation system, the working principle and the types of micromechanical gyro errors were studied. In view that random error of micromechanical gyro was a major factor that deteriorates the accuracy of transplanter＇s GPS/1NS integrated navigation system, the AR random error model was proposed based on time series analysis. The Kalman filter process sampling test data were processed based on the proposed model. Experiment results show that, after using AR model, the micro mechanical gyro random error variance is decreased by one order of magnitude, and the amplitude of random error is also significantly decreased.

关 键 词：随机误差 时间序列分析 微机械陀螺 AR模型 

分 类 号：U666.1[交通运输工程—船舶及航道工程]