On-line compensation technique for micromechanical gyroscope random error
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摘要: 为了提高微机电系统(MEMS, Micro Electro Mechanical System)陀螺测量的精度,提出了一种陀螺随机漂移的在线补偿方法.在静态时在线建立随机漂移的自回归滑动平均(ARMA, Auto Regressive Moving Average)模型,并针对随机漂移模型随时间慢变的特性,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随机漂移和角速率进行实时估计.通过试验表明:随机漂移模型、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.Abstract: To improve the measurement precision of micro electro mechanical system (MEMS) gyroscope, an on-line compensation approach for MEMS gyroscope random error was 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 time-varying model. Due to the unknown movement of carrier, the technique of maneuvering target tracking was presented to obtain the maneuvering angular rate model. The random error and angular rate were estimated in real-time by using adaptive Kalman filter in the dynamic test. The result of test indicates that the model of random error, the angular rate, and the algorithm of filtering can satisfy the dynamic application of the MEMS-based attitude heading reference system. Furthermore, the precision of system is greatly improved after compensated.
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Key words:
- gyroscopes /
- random errors /
- time series analysis /
- target tracking /
- adaptive filtering
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