陀螺漂移误差建模与滤波  

Error Modeling and Filtering for Drift of MEMS Gyroscope

作　　者：李杰[1] 郑伦贵[1,2] 王建中[1] 

机构地区：[1]中北大学仪器科学与动态测试教育部重点实验室,太原030051 [2]清华大学精密测试技术及仪器国家重点实验室,北京100084

出　　处：《传感技术学报》2017年第5期731-734,共4页Chinese Journal of Sensors and Actuators

基　　金：清华大学精密测试技术及仪器国家重点实验室开放基金项目(16106000005)

摘　　要：MEMS陀螺漂移误差直接影响光电稳定跟踪平台伺服机构的控制精度。针对MEMS陀螺随机漂移误差慢时变、弱非线性、难以准确补偿的特点,基于随机序列时序分析法的基本原理,对预处理后的MEMS陀螺漂移残差信号进行建模,并根据模型对残差信号进行Kalman滤波。结果显示滤波前后信号的方差提高了1到2个数量级,表明有效抑制了漂移误差,提高了MEMS陀螺的精度。The control accuracy of the electro-optical stability tracking platform is directly affected by the drift error of MEMS gyroscope. The random drift error of MEMS gyroscope is slowly time-drifting, Weakly nonlinear and difficult to be accurately compensated. Aiming at the above characteristics, a model is built for the residual signal of MEMS gyro drift error based on the principle of time-series analysis. The Kalman filtering results show that the variance of the signal is improved by one to two magnitudes, which shows that the drift error is effectively suppressed and the accuracy of the MEMS gyroscope is improved.

关 键 词：MEMS陀螺 随机漂移 时间序列分析 KALMAN滤波 

分 类 号：TN914.42[电子电信—通信与信息系统]