传感技术学报2018，Vol.31Issue(3)：368-373,6.DOI:10.3969/j.issn.1004-1699.2018.03.009
MEMS陀螺仪漂移和噪声的分析和补偿
Analysis and Compensation of Drift and Noise in MEMS Gyroscope
摘要
Abstract
The traditional method of gyroscope data analysis is the tail data processing to reduce the random error u-sing the Kalman filter,the gyro sensor with the impact of changes in the external environment will have a nonlinear error,the introduction of EKF filtering for nonlinear systems.In order to rapidly filter the noise generated by the sys-tem in the actual environment,the traditional median filtering algorithm is improved to reduce its computational complexity,and a differential mean median filtering method is proposed. This paper first use Allen(ALLAN) analysis of variance of the error characteristics of gyroscope,error sources for these methods are proposed to offset correction,after the establishment of auto regressive moving average model(ARMA model)error modeling analysis of the gyroscope data,and finally use the EKF algorithm to reduce the random error.Experimental results show that the proposed method has better filtering effect,lower computational complexity and better real-time performance than traditional methods.关键词
kalman滤波器/阿伦方差分析/自动回归-滑动平均模型Key words
kalman filtering/Allan Variance Anla Aalyse/auto-regressive moving-average model分类
航空航天引用本文复制引用
刘孝博,陈光武,王迪,王登飞..MEMS陀螺仪漂移和噪声的分析和补偿[J].传感技术学报,2018,31(3):368-373,6.基金项目
甘肃省基础研究创新群体计划项目(1606RJIA327) （1606RJIA327）
陇原青年创新人才扶持计划项目(2016-43) （2016-43）
甘肃省自然青年基金项目(1606RJYA225) （1606RJYA225）
