一种微机械陀螺仪误差的高精度补偿方法

为了提高低精度微机械陀螺仪的精度,研究了陀螺仪的确定性误差.根据陀螺仪的误差模型推导了如何得到陀螺仪的输出数学模型中的刻度因子、失准角、零偏.利用allan方差辨识陀螺仪的噪声系数,根据微机械陀螺仪的误差模型设计了kalman滤波器进行动态仿真,仿真结果表明:采用卡尔曼滤波补偿后微机械陀螺仪的输出均值较原始值和标定后有了明显的提高.

A high precision compensation method for micro-mechanical gyro error

In order to improve the performance of low-accuracy Micro-Mechanical gyro,the constant error of gyro was analyed. According to the error model of gyro derived how to get the scale factor,misalignment errors,bias. Use of allan variance characterize the gyro noise coefficients, according to the error model of Micro-Mechanical gyro a kalman filter was designed and simulated dynamically. The simulation results showed that the output mean value of Micro-Mechanical gryo was remarkably improved after using kalman filter in the test compared with original and calibreate value.