基于Kalman滤波器的MEMS陀螺随机误差分析与建模补偿
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摘要
MEMS陀螺随机漂移是影响MEMS惯性导航精度的主要原因。为提高MEMS陀螺使用精度,通过时间序列分析方法,建立MEMS陀螺角速率信号ARMA模型,进而利用线性KF(Kalman Filter)滤波方法处理陀螺角速率信号。通过搭建MEMS陀螺组件,进行三轴精密转台实验,将得采存陀螺信号进行KF滤波处理。利用Allan方差分析滤波前后MEMS陀螺角速率信号,结果表明陀螺仪零偏不稳定性经KF滤波后提升18.7%。
MEMS gyro random drift is the main cause of MEMS inertial navigation accuracy. In order to improve the accuracy of MEMS gyroscope,the ARMA model of gyroscope is established by time series analysis method. Then the linear KF( Kalman Filter) is used to process the gyro random signal. The MEMS gyro component is built,and the three axis turntable experiment is carried out,and the gyro signal is processed by KF. Allan variance analysis shows that the zero bias instability is improved by 18.7% after linear KF filtering.
MEMS gyro random drift is the main cause of MEMS inertial navigation accuracy. In order to improve the accuracy of MEMS gyroscope,the ARMA model of gyroscope is established by time series analysis method. Then the linear KF( Kalman Filter) is used to process the gyro random signal. The MEMS gyro component is built,and the three axis turntable experiment is carried out,and the gyro signal is processed by KF. Allan variance analysis shows that the zero bias instability is improved by 18.7% after linear KF filtering.
引文
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[11]Bai J Q,Zhang K,Wei Y X.Modeling and Analysis of Fiber Optic gyroscope Random Drifts[J].J Chin Inert Technol,2012(5):621-624.
[2]张克志,田蔚风,金志华.基于UKF的动力调谐陀螺随机漂移建模研究[J].传感技术学报,2007,20(7):1555-1557.
[3]吉训生,王寿荣.硅微陀螺信号的自适应UKF滤波处理[J].高技术通讯,2010,20(6):623-627.
[4]Shin E H,El-Sheimy N,An Unscented Kalman Filter for Inmotion Alignment of Low-Cost IMUS[C]//Proceedings of the Position Location and Navigation Symposium,Monterey,CA,USA.2004:273-279.
[5]蔡雄.硅微机械陀螺的随机误差建模与补偿[D].南京:南京理工大学,2011.
[6]Seong Sangman,Kang Ki-Ho.Kalman Filter Design for Aided INS Considering Gyroscope Mixed Random Errors[J].Journal of The Korean Society Aeronautical and Space Sciences,2006,19(5):47-52.
[7]李杰,张文栋,刘俊.基于时间序列分析的Kalman滤波方法在MEMS陀螺仪随机漂移误差补偿中的应用研究[J].传感技术学报,2006,23(1):2214-2219.
[8]王新.硅微陀螺仪随机漂移建模研究[D].哈尔滨:哈尔滨工程大学,2008.
[9]钱华明,夏全喜,阙兴涛.基于Kalman滤波的MEMS陀螺仪滤波算法[J].哈尔滨工程大学学报,2010,31(9):1218-1221.
[10]王新龙,李娜.MEMS陀螺随机误差的建模与分析.[J]北京航空航天大学学报,2012,38(2):171-174.
[11]Bai J Q,Zhang K,Wei Y X.Modeling and Analysis of Fiber Optic gyroscope Random Drifts[J].J Chin Inert Technol,2012(5):621-624.