| MEMS陀螺仪随机漂移误差研究 |
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| 引用本文： | 吉训生,王寿荣.MEMS陀螺仪随机漂移误差研究[J].宇航学报,2006,27(4):640-642. |
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| 作者姓名： | 吉训生 王寿荣 |
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| 作者单位： | 1. 东南大学仪器科学与工程系,南京,210096;江南大学信控学院,江苏,214063
2. 东南大学仪器科学与工程系,南京,210096 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 降低MEMS陀螺仪的随机漂移误差是提高陀螺仪性能的主要方法之一。基于随机序列时序分析法的基本原理，在对MEMS陀螺仪的初始测量数据采用均值估计法进行预处理后，对去除渐进项后的残差信号进行AR（1）建模，并依据该模型对残差信号进行了Kalman滤波，有效提高测量精度。通过对残差信号进行Allan方差的分析，分离出了陀螺仪随机漂移中的主要随机误差源。通过对具体测量数据的处理结果表明，经过这样的处理，陀螺仪噪声的零偏稳定性和速率随机游走分别提高了4倍和7倍。
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| 关 键 词： | 陀螺仪漂移 均值估计 Allan方差 时间序列 |
| 文章编号： | 1000-1328（2006）04-0640-03 |
| 收稿时间： | 07 29 2005 12:00AM |
| 修稿时间： | 2005-07-292005-09-27 |
Research on the MEMS Gyroscope Random Drift Error |
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| JI Xun-sheng,WANG Shou-rong.Research on the MEMS Gyroscope Random Drift Error[J].Journal of Astronautics,2006,27(4):640-642. |
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| Authors: | JI Xun-sheng WANG Shou-rong |
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| Abstract: | How to decrease the random drift noise is one of the ways to improve the performance of the MEMS gyroscope.In this paper,principle of the time-sequence analysis from the random series was analyzed.The original measurement from the MEMS gyroscope was firstly processed by the way of an average estimation.The residual signal,which was got from the fitted original signal,was modeled by the AR(1) model.After the residual signal was filtered by the Kalman filtering,the measuring accuracy was improved greatly.The main error source was detrained out by the Allan variance analyzing.The processed result from the measurement data showed that the bias stability was improved 4 times and the random walk coefficient was improved 7 times. |
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| Keywords: | Gyroscope drift Average estimation Allan variance Time sequence |
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