基于Allan方差的MEMS陀螺随机误差建模

Modeling of MEMS gyroscope random error based on Allan variance

摘要:

针对由于MEMS陀螺随机误差较大而影响MEMS惯性测量系统测量精度的问题，提出一种利用Allan方差分析随机误差并建模的方法。在分析Allan方差原理的基础上，通过Allan方差分析法分离和辨识了MEMS陀螺仪的各项随机误差以及误差系数，并利用随机误差系数进行了数学建模。通过与ARMA模型比较，表明利用Allan方差建立的模型更加精确。该方法为MEMS惯性导航系统中姿态测量的误差补偿和滤波提供了新的思路，对提高MEMS惯性测量系统的测量精度具有一定的实际应用价值。

Abstract:

Large stochastic errors in MEMS gyroscope have greatly effect on the accuracy of MEMS inertial navigation system. The paper separates and identifies the various random errors and error coefficient by the method of Allan variance, makes mathematical model that comparing with ARM model using random error coefficient. The results show that the model established by error coefficient is more accurate. The method has a certain practical value for inertial navigation system.