MEMS陀螺随机漂移在线补偿技术.pdfVIP

2010 12 December 2010 36 12 JournalofBeijing University ofAeronautics andAstronautics Vol. 36 o12 MEM S 袁赣南 梁海波 何昆鹏 谢燕军 ( , 150001) : 为了提高微机电系统(MEMS, M icro E lectroM echanical System) 陀螺测量的 精度, 提出了 一种陀螺 机漂移的在线补偿方法. 在静态时在线建立 机漂移的自回归滑动平 均(ARMA, Auto RegressiveMovingAverage)模型, 并针对 机漂移模型 时间慢变的特性, 引 入虚拟噪声补偿技术加以补偿. 针对载体运动状况的未知性, 建立机动角速率模型. 在此基础 上采用自适应卡尔曼滤波技术对 机漂移和角速率进行实时估计. 通过试验表明: 机漂移模 型角速率模型以及滤波算法能够满足姿态测量系统的动态应用需要, 且姿态测量精度较补偿 前有了显著的提高. : 陀螺仪; 机漂移; 时间序列分析; 目标跟踪; 自适应滤波 : V 241. 6 : A :2010) O nline com pensation techn ique fo r m ic romechan ica l gy roscope random erro r Yuan Gannan Liang H aibo He Kunpeng XieYanjun ( College of Automation, Harbin EngineeringUniversity, Harbin 150001, China) Abstract: To mi prove the measurement precision of m icro electro m echanical system (MEMS) gyro scope, an online compensation approach forMEMS gyroscope random errorwas presented. The autoregressive moving average (ARMA) model of random error was established under static condition, and the fictitious noise compensation technique was introduced to accommodate the tmi evarying model. Due to the unknown movementof carrier, the technique ofmaneuvering target trackingwaspresented to obtain themaneuvering an gular ratemodel. The random error and angular ratewere estmi ated in realtmi e by using adaptiveKalm an fil ter in the dynam ic test. The result of test indicates that themodel of random error, the angular rate, and the algorithm of filtering can satisfy the dynam ic application of theMEMSbased attitudeheading reference system. Furthermore, the precision of system is greatly mi proved after compensated. Key wo rds: gyroscopes;