MEMS阵列数据融合及标定方法研究  

Study on Field Data Fusion and Calibration Techniques of MEMS Array

作　　者：阮卫 黄海 洪剑英 秦斌 RUAN Wei;HUANG Hai;HONG Jianying;QIN Bin(The 705 Research Institute,China State Shipbuilding Corporation Limited,Xi’an 710077,China)

机构地区：[1]中国船舶集团有限公司第七〇五研究所,陕西西安710077

出　　处：《水下无人系统学报》2024年第5期884-890,共7页Journal of Unmanned Undersea Systems

摘　　要：针对微电子机械系统(MEMS)陀螺随机噪声大及零偏重复性差的特点,对MEMS随机误差采用Allan方差分析其角度随机游走,以Allan方差辨识值和加权最小二乘法设计阵列陀螺信息融合处理算法,可有效降低角度随机游走,且在静态和动态条件下均能实时响应真实角速率。对MEMS陀螺常值漂移,结合惯性导航系统误差的可观测性设计两位置标定方案,完成常值漂移的系统级标定。仿真结果表明,文中所提方法可有效降低MEMS陀螺角度随机游走和陀螺常值漂移,显著提升MEMS惯性测量精度。Due to the poor bias repeatability and large random noise of a micro electro mechanical system(MEMS),the Allanvariance was used to analyze the random angle walk of MEMS.The information fusion algorithm of array gyro was designedby using Allan variance identification value and weighted least square method,which could effectively reduce the randomangle walk and respond to the true angular rate in real time under both static and dynamic conditions.For the constant drift ofMEMS gyro,a two-position calibration scheme was designed combined with the observability of the error of the inertialnavigation system,so as to complete system-level calibration of constant drift.Simulation results show that the methodproposed in this paper effectively reduces the random angle walk and the constant drift of MEMS gyro and significantlyimproves the inertial measurement accuracy of MEMS.

关 键 词：微电子机械系统 阵列 ALLAN方差 系统级标定 信息融合 

分 类 号：TJ630.1[兵器科学与技术—武器系统与运用工程] U674.94[交通运输工程—船舶及航道工程]