基于IMU旋转的MEMS器件误差调制技术研究

MEMS惯性器件低信噪比和漂移大成为影响其应用范围的主要因素,提出基于惯性测量单元(IMU)转动的MEMS器件误差旋转自补偿方法。将MEMS输出信息利用小波降噪技术进行预处理,以此消除旋转调制方案不能自补偿的随机噪声信号并提高器件输出信噪比,分析IMU转动方案下的误差调制原理并探讨旋转调制的工程可实现性。搭建MEMS转动实验环境并开展降噪与IMU静止和转动条件下的导航实验,结果表明,采用旋转状态下的MEMS惯导系统可有效地提高系统自身测姿和定位精度。

Research on error modulation technology of MEMS based on IMU rotation

The low signal to noise ratio and drift of MEMS inertial components are major factors which limit the application. The error of MEMS inertial components self compensation method with inertial measurement unit rotation scheme was proposed in this paper. For the purpose of removing the random noise which could not be modulated by IMU rotation and improve the low signal to noise ratio, the de noising of MEMS output was carried by wavelet decomposition. The error modulation principle with IMU rotation was analyzed and the project implementation was discussed. The rotation environment was built and the experiments for de noising and navigation experiments with IMU static and rotation were carried out. The experiment results show that the system attitude and position accuracy is improved effectively with MEMS rotation.