基于六位置法和KF的MEMS加速度计补偿方法  

Compensation Method of MEMS Accelerometer Based on Six-position Method and KF

作　　者：王建东 冉国 徐海 朱军 WANG Jiandong;RAN Guo;XU Hai;ZHU Jun(Tianjin Jinhang Computing Technology Research Institute,Tianjin 300308,China;College of Optoelectronic Engineering,Chongqing University,Chongqing 400044,China)

机构地区：[1]天津津航计算技术研究所,天津300308 [2]重庆大学光电工程学院,重庆400044

出　　处：《现代信息科技》2024年第16期10-13,19,共5页Modern Information Technology

摘　　要：MEMS传感器以其体积小、廉价等优点备受关注,然而,其误差相对较高。由于相同规格的MEMS惯性传感器存在误差特性的差异,建立准确的传感器误差模型成为一项颇具挑战性的任务。低准确度的MEMS惯性传感器误差,主要涉及零偏、标准化规范影响因数和相对较大的安装偏差。为克服这种误差源,文章提出一种采用Kalman滤波和六位法的MEMS加速度计补偿方法。实验结果表明,MEMS加速度计在补偿后输出的误差明显减小。横滚角在-90°~+90°范围内变化的绝对误差在应用该方法后,由补偿前的2.44°减小至0.64°。MEMS sensors have attracted much attention because of their advantages such as small size and low cost.However,their error level is relatively high.Due to the difference in error characteristics of MEMS inertial sensors with the same specifications,it is a challenging task to establish an accurate sensor error model.The low accuracy MEMS inertial sensor error mainly involves zero bias,standardized specification influence factor and relatively large installation deviation.To overcome this error source,a MEMS accelerometer compensation method using Kalman filtering and six-position method is proposed.The experimental results show that the output error of MEMS accelerometer is obviously reduced after compensation.The absolute error of roll angle in the range of-90°to+90°is reduced from 2.44°before the compensation to 0.64°by applying the proposed method.

关 键 词：六位置法 卡尔曼滤波 MEMS加速度计 标定 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] TH824[自动化与计算机技术—控制科学与工程]