基于MEMS陀螺仪的随机误差分析

Analyses on Random Error Based on MEMS Gyroscope

摘要:

为了提高MEMS陀螺仪测量精度,减少随机误差的影响,对产生随机误差的噪声源及其随机误差模型进行了分析;通过分析MEMS陀螺仪自身结构的缺陷并且对其输出数据进行了相应的滤波处理与平稳性检验,确立了合适的误差模型并利用Kalman滤波进行误差补偿,验证了模型的有效性;同时运用Allan方差法对MEMS陀螺仪噪声项进行了分析,确定了影响MEMS陀螺仪测量性能的主要因素以及比较了滤波前后的各项噪声源系数,检验了滤波效果且实验结果证明误差模型显著提高了MEMS陀螺仪的测量精度。 

Abstract:

The main noise sources and error model on random error are analyzed in order to improve measurement precision of MEMS gyroscope. A proper model is made in view of the MEMS gyroscope random error after the analysis of the structure defects of MEMS gyroscope and corresponding filtering , smoothness test. And the validity of error model is verified via error compensation derived from the Kalman filter. The principle factors that affect the measurement performance of MEMS gyroscope are confirmed with the analysis of MEMS gyroscope noise items using Allan variance method and the coefficients of various noise sources are compared before and after filtering to examine the filter, the experiment shows that error model significantly improved the precision of the measurement of MEMS gyroscope.