An adaptive compensation algorithm for temperature drift of micro-electro-mechanical systems gyroscopes using a strong tracking Kalman filter.
An adaptive compensation algorithm for temperature drift of micro-electro-mechanical systems gyroscopes using a strong tracking Kalman filter.
复制标题
使用强跟踪卡尔曼滤波器的微机电系统陀螺仪温度漂移自适应补偿算法
DOI：
10.3390/s150511222
复制
发表时间：
2015-05-13
期刊：
影响因子：
--
通讯作者：
Zhang X
中科院分区：
文献类型：
--
作者：
Feng Y;Li X;Zhang X
针对微机电系统（MEMS）陀螺仪与罗盘的集成系统，提出了一种自适应算法，以消除环境影响，精确补偿温度漂移，提高MEMS陀螺仪的精度。我们使用一个简化的漂移模型和改变，但适当的模型参数来实现这个算法。MEMS陀螺温度漂移模型主要是根据陀螺的温度灵敏度建立的。温度漂移模型的参数作为强跟踪卡尔曼滤波器（STKF）的状态变量，可以在罗盘的支持下计算出适应环境的温度漂移模型参数。这些参数随环境智能变化，以保持MEMS陀螺仪在变化的温度下的精度。在静态温度实验中航向误差小于0.6°，在动态室外实验中航向误差也保持在5° ~ −2°范围内。结果表明，该算法对温度变化具有较强的适应性，在补偿陀螺温度漂移和消除温度变化影响方面明显优于KF和MLR算法。
We present an adaptive algorithm for a system integrated with micro-electro-mechanical systems (MEMS) gyroscopes and a compass to eliminate the influence from the environment, compensate the temperature drift precisely, and improve the accuracy of the MEMS gyroscope. We use a simplified drift model and changing but appropriate model parameters to implement this algorithm. The model of MEMS gyroscope temperature drift is constructed mostly on the basis of the temperature sensitivity of the gyroscope. As the state variables of a strong tracking Kalman filter (STKF), the parameters of the temperature drift model can be calculated to adapt to the environment under the support of the compass. These parameters change intelligently with the environment to maintain the precision of the MEMS gyroscope in the changing temperature. The heading error is less than 0.6° in the static temperature experiment, and also is kept in the range from 5° to −2° in the dynamic outdoor experiment. This demonstrates that the proposed algorithm exhibits strong adaptability to a changing temperature, and performs significantly better than KF and MLR to compensate the temperature drift of a gyroscope and eliminate the influence of temperature variation.
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影响因子：
2.4
作者：
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通讯作者：
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10.1109/taes.2007.4383613
发表时间：
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影响因子：
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作者：
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