一种基于Kalman滤波的陀螺误差标定方法

针对微惯性连续测斜装置中陀螺测量精度受噪声干扰、安装误差和零漂的影响,提出了一种基于Kalman滤波的陀螺误差标定方法。以微型石英振动陀螺仪为研究对象,运用Kalman滤波对陀螺的原始测量值进行滤波,分析陀螺零漂随温度的变化关系,结合已有的误差标定模型,得到了一种改进的全温范围内的陀螺误差标定模型。通过实验验证,与传统标定方法相比,提出的陀螺标定方法的测量精度提高了1~2个数量级,验证了该标定方法的可行性,对工程应用具有重要意义。

An Error Calibration Method of Gyro Based on Kalman Filter

Aiming at the problem that the accuracy of gyro measurement in micro inertia continuous inclinometer is affected by the noise interference, installation error and zero drift, a calibration method of gyro error based on Kalman filter is put forward in this paper. Taking the micro quartz vibratory gyroscope as the research object, the original measurement value of the gyroscope is filtered by Kalman filter. The relationship between the zero drift and the temperature variation of the gyro is analyzed. Combining with the existing error calibration model, an improved gyro error calibration model in the full temperature range is obtained. The experimental results show that the accuracy of the proposed gyro calibration model is increased by about 1 to 2 orders of magnitude compared with the convention calibration model. The feasibility of the calibration method is verified, and it is of great significance for engineering applications.