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在工程实际应用中,MEMS惯性测量单元的误差来源很多,噪声波动范围很大,温度特性和非线性严重;通过高低温实验,首先,分析系统的误差,建立系统的误差模型,在-30℃~+60℃范围内,进行全温度补偿;然后,分析噪声,根据实际要求,设计数字低通滤波器,对补偿后的数据进行滤波;结果显示,在满足工程实时性与动态特性要求的前提下,陀螺仪的零位补偿精度可以达到±0.03°以内,噪声波动范围可以控制在0.05°以内,加速度计的零位补偿精度达到±0.001g,满足工程实际要求,具有实用性!
In practice, MEMS Inertial Measurement Unit has many sources of error, a large range of noise fluctuation, serious temperature characteristics and non-linearity. Through high and low temperature experiments, the error of the system is analyzed and the error model of the system is established. ~ + 60 ℃ for full temperature compensation. Then, the noise is analyzed and the digital low-pass filter is designed to filter the compensated data according to the actual requirements. The results show that under the premise of meeting the real-time and dynamic characteristics of the project , The gyro zero compensation accuracy can reach within ± 0.03 °, the noise fluctuation range can be controlled within 0.05 °, the accelerometer zero compensation accuracy up to ± 0.001g, to meet the actual project requirements, practical!