MEMS陀螺仪随机误差模型及误差补偿研究

Proceedings of the 2019 4th International Conference on Robotics, Control and Automation Pub Date : 2019-07-26 DOI:10.1145/3351180.3351220

Xiaolin Kan, Xisheng Li, Qing Liu

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引用次数: 1

摘要

为了解决MTi-28A53G35中MEMS陀螺仪精度低、累积误差大的问题，对MEMS陀螺仪的随机漂移模型进行了研究。本文采用ARIMA模型对预处理后的MEMS陀螺仪的测量数据噪声进行建模，然后详细讨论了基于时间序列模型的卡尔曼滤波方法减小漂移误差的具体方法。对MEMS陀螺仪实测数据的误差补偿结果表明，所提出的滤波方法在实际系统中可以有效地减小漂移误差，提高MEMS陀螺仪的精度。

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Research on Random Error Model and Error Compensation of MEMS Gyroscope

In order to solve the problem of low precision and large cumulative error of MEMS gyroscope in MTi-28A53G35, the random drift model of the MEMS gyroscope is studied. In this paper, the ARIMA model is used to model the measured data noise of the preprocessed MEMS gyroscope, and then the specific method of reducing the drift error based on the Kalman filtering method based on time series model is discussed in detail. The error compensation results of the measured data of the MEMS gyroscope show that the proposed filtering method can effectively reduce the drift error and improve the accuracy of the MEMS gyroscope in the actual system.

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Proceedings of the 2019 4th International Conference on Robotics, Control and Automation

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