摘要
为了补偿MEMS陀螺仪的漂移误差,本文采用了一种新的卡尔曼滤波算法。文中对MPU3050陀螺仪进行分析,提出其漂移模型。通过分析陀螺仪的误差,建立陀螺仪的误差模型。卡尔曼滤波的效果通过阿伦方差进行评估,与其他滤波算法比较,在MEMS陀螺仪中采用卡尔曼滤波算法可以有效的减少SCM(单片机)计算,并在转台上对陀螺仪进行测试。实验结果表明,结合误差模型和卡尔曼滤波算法可有有效的减少陀螺仪的漂移误差。
Aiming at solving the error of MEMS gyroscope’s drift in the test,the kalman algorithm was proposed. In the thesis,MPU3050 gyroscope was analyzed,and its drift model was proposed. After the analysis of the cause of the error of the gyroscope,the error model of the gyroscope was established. The effect of kalman filter was evaluated on the Allan variance method. Compare with other filtering algorithm,kalman filtering algorithm which can reduce the burden of SCM（Single chip microcomputer）with a little computation,and the gyroscopes were tested on the rotating speed device. The experimental results show that the combination of the error of model and kalman filter algorithm can reduce drift of the gyroscope in the test.
出处
《传感技术学报》
CAS
CSCD
北大核心
2016年第7期962-965,共4页
Chinese Journal of Sensors and Actuators
基金
国防预先研究项目
