光电平台MEMS陀螺性能及滤波算法的Allan方差评价

光电稳定平台被广泛应用于火控、侦察、制导等武器系统中，具有提供重要的态势感知、监视、瞄准和搜跟能力。随着光电技术的发展，光电稳定平台变得更加精准和轻便小巧。MEMS陀螺具有体积小、重量轻、成本低、可靠性高、测量范围大的优点，使其已经成为小体积、低成本光电稳定平台的首选惯性传感器。但在光电稳定平台设计时，选用MEMS陀螺和陀螺滤波处理就成了首要的问题。本文首先介绍了基于Allan方差评价MEMS陀螺随机漂移误差的方法，描述了4种常用的陀螺滤波算法，然后基于Allan方差详细地分析了这几种滤波器的应用特性和滤波器参数对滤波性能的影响。可以看出，使用Allan方差可以很好地评估MEMS陀螺和滤波器性能，指导陀螺滤波器选型和滤波参数配置，该评估方法可有效地解决光电稳定平台设计阶段的陀螺选型和滤波器选型。

Performance and filtering algorithm evaluation of MEMS Gyro in photoelectric platform based on Allan variance

The photoelectric stabilized platform is widely used in fire control,reconnaissance,guidance and other weapon systems to provide critical situation awareness,surveillance,aiming and search and track capabilities.With the development of optoelectronic technology,the photoelectric stabilized platform becomes more accurate,lightweight and compact.MEMS gyro has the advantages of small size,light weight,low cost,high reliability and large measurement range making it the preferred inertial sensor for small size and low cost photoelectric stabilization platform.However,in the design of photoelectric stabilized platform,the selection of MEMS gyro and its filtering algorithm becomes a primary issue.In this paper,the method of evaluating the stochastic errors of MEMS gyro based on Allan variance is introduced.Four common gyro filtering algorithms are described and the characteristics of these filters and the influence of filter parameters on the filtering performance based on Allan variance are analyzed in detail.It can be seen that based on Allan variance,the performance of MEMS gyro and filter can be well evaluated and the guidance selection of filter and the configuration of filter parameter are given.This evaluation method can effectively address the selection of gyro and its filter in the design stage of photoelectric stabilized platform.