基于时间序列分析的Kalman滤省略螺仪随机漂移误差补偿中的应用研究李杰.pdf

第19 卷 第5 期 传 感 技 术 学 报 V ol. 19 No. 5 2006 年10 月 CHINESE JOURNAL OF SENSORS AND ACT UATORS Oct . 2006 Research on the Application of the Time-Serial Analysis Based Kalman Filter in MEMS Gyroscope Random Drift Compensation * LI J ie , ZH AN G Wen-dong, LI UJ un N ational Key Laboratory f or Electronic Measure ent Technology, Dep art ent of Electronic Science and Technology, North University of China, Taiy uan 030051, china Abstract:The compensating method for MEMS gyroscope random drift error is discussed. First its drift er ror model is created by using the time serial analysis, then the process of decreasing this drift error by making use of Kalman filter based on the above error model is expounded. T he compensating results for the practical testing data of a MEMS gyroscope show , the drift error can be controlled effectively by the filtering method presented, and its application precision in practical system can be further proved. Key ords:MEMS gyroscope; random drift error; time series analysis; kalman filter EEACC:7630 Kalman MEMS * 李 杰 , 张文栋, 刘 俊 ( , 030051) : , M EMS . MEMS , Kalman . MEMS , , MEMS . : M EMS ; ; ; :V241.5 :A :1004-1699(2006)05-2215-05 MEMS MEMS MEMS [ 1] . , , , MEMS , , , , , , MEMS . , , MEMS , MEMS MEMS , , , . , MEMS :2006 07 01 :/ 0 ( 40404050101) : ( 1976 ) , , , ( ) , , Lijie@ nuc.edu. cn; ( 1962 ) , , , , M EM S ( 1968 ) , , , , 2216 传 感 技 术 学 报