论文部分内容阅读
随机漂移是微机电系统(MEMS)陀螺的主要误差,建立其数学模型并在输出中加以补偿是抑制该项误差、提高MEMS陀螺精度的有效方法。采用Allan方差对MEMS陀螺实测数据进行了分析,并采用时间序列分析法建立了随机漂移模型。根据建立的漂移模型,就如何利用Kalman滤波抑制随机漂移误差进行了分析和研究。
Stochastic drift is the main error of MEMS gyroscope. Establishing its mathematical model and compensating it in output is an effective way to suppress the error and improve the accuracy of MEMS gyroscope. The Allan variance is used to analyze the measured data of MEMS gyroscope. A stochastic drift model is established by time series analysis. According to the established drift model, how to use Kalman filter to suppress the random drift error is analyzed and studied.