红外技术, 2017, 39 (1): 73, 网络出版: 2017-03-29  

温度约束的 MEMS陀螺零漂补偿模型

Compensation Model of MEMS Gyroscope’s Null Shift Based on Temperature Constraint Algorithm
作者单位
昆明物理研究所, 云南昆明 650223
摘要
针对现有 MEMS零位随机漂移的缺陷, 本文建立关于温度约束的确定性模型 MEMS陀螺零位漂移补偿模型。首先, 依据 MEMS陀螺信号的测量模型, 将陀螺信号误差分解为确定性误差和随机性误差, 针对由温度引入的确定性误差, 建立温度 -零偏和温度 -主频率分量确定性约束模型, 有效消除信号序列中的温度引入趋势项和辨识周期项; 其次, 利用自回归滑动平均模型( Auto-Regressive and Moving Average Model, 简称为 ARMA模型)逼近 MEMS陀螺信号中的随机误差项, 准确地预测出随机误差的变化趋势; 最后, 采用 Kalman滤波优化 ARMA模型的预测效果, 进一步提高模型的状态估计精度。理论分析和实验结果验证了该模型的鲁棒性和有效性。
Abstract
To avoid the shortcomings of the compensation of null output of MEMS gyroscopes, this paper presents a null shift compensation model for MEMS gyroscopes based on temperature constraint model. Firstly, according to the measurement model of MEMS gyros’ signal, which consists of the definite error and the stochastic one. The temperature-null bias voltage constraint model and temperature-main frequency constraint model are proposed on the definite error effected by temperature. And the models can weaken the definite and season parts effectively. Then, the ARMA model is used to predict the rest stochastic error of MEMS gyros’ signal. At last, Kalman filter is made by optimizing the established ARMA model, which aims at the improvement of the model’s performance. The theoretical analysis and experimental results show the robust and efficiency of the model proposed.

阎歆婕, 林宇, 李建, 张晋, 林丹丹. 温度约束的 MEMS陀螺零漂补偿模型[J]. 红外技术, 2017, 39(1): 73. YAN Xinjie, LIN Yu, LI Jian, ZHANG Jin, LIN Dandan. Compensation Model of MEMS Gyroscope’s Null Shift Based on Temperature Constraint Algorithm[J]. Infrared Technology, 2017, 39(1): 73.

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