传感技术学报2016，Vol.29Issue(7)：962-965,4.DOI:10.3969/j.issn.1004-1699.2016.07.002
基于卡尔曼滤波算法的MEMS陀螺仪误差补偿研究
Drift Compensation of MEMS Gyro with Kalman Filtering Algorithm
摘要
Abstract
Aiming at solving the error of MEMS gyroscope’s drift in the test,the kalman algorithm was proposed. In the thesis,MPU3050 gyroscope was analyzed,and its drift model was proposed. After the analysis of the cause of the error of the gyroscope,the error model of the gyroscope was established. The effect of kalman filter was evaluat⁃ed on the Allan variance method. Compare with other filtering algorithm,kalman filtering algorithm which can re⁃duce the burden of SCM(Single chip microcomputer)with a little computation,and the gyroscopes were tested on the rotating speed device. The experimental results show that the combination of the error of model and kalman fil⁃ter algorithm can reduce drift of the gyroscope in the test.关键词
MEMS陀螺仪/卡尔曼滤波器/阿伦方差/漂移误差Key words
MEMS gyroscope/Kalman filter/allan variance/drift error分类
计算机与自动化引用本文复制引用
徐韩,曾超,黄清华..基于卡尔曼滤波算法的MEMS陀螺仪误差补偿研究[J].传感技术学报,2016,29(7):962-965,4.基金项目
国防预先研究项目 （）
