On modeling of random drift of MEMS gyroscope and design of Kalman filter
On modeling of random drift of MEMS gyroscope and design of Kalman filter
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DOI：
10.1109/icma.2009.5246601
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发表时间：
2009-09
期刊：
影响因子：
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通讯作者：
Huaming Qian;Q. Xia;Bo Jiang;Chong Wang
中科院分区：
文献类型：
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作者：
Huaming Qian;Q. Xia;Bo Jiang;Chong Wang
微机电系统（MEMS）具有比传统速率传感器更低的价格、更小的尺寸和更轻的重量，在低成本、小型化的惯性测量单元（IMU）中得到了广泛的发展。然而，MEMS陀螺仪通常有较大的漂移，这限制了它的使用。本文建立了陀螺仪残差信号的一阶自回归模型，并设计了带有色噪声的卡尔曼滤波器。为了验证模型和滤波器的有效性，设计了静态试验、速率试验和振荡试验。实验结果表明，MEMS陀螺仪在人体不具有较大柔韧性运动时性能得到显著提高，而当人体柔韧性增大时，陀螺仪的性能会下降。分析说明了造成这种现象的原因。因此，当身体的柔韧性较大时，应谨慎使用该技术。从导航的角度来看，所展示的效果似乎是有意义的，而且据我们所知，这是第一次被展示出来。
By virtue of lower price, smaller size and lighter weight than that of traditional rate sensors, the Micro-Electro-Mechanical System (MEMS) has been widely developed to use in low cost and miniaturized Inertial Measurement Units (IMU). However, the MEMS gyroscopes usually have large drift, which limit its use. In this paper, a one-order autoregressive (AR) model is built for the residual signal of gyroscope and Kalman filter with colored noise is designed. In order to verify the validity of the model and the filter, static test, rate test and oscillating test are designed. The test results demonstrate that the performance of MEMS gyroscope is improved remarkably when the body does not move with great flexibility and the effectiveness will come down when the flexibility of the body increases. Analysis has been done to illustrate the reasons for the phenomena. So the technique should be used with caution when the body move with great flexibility. From a navigation point of view, the effects demonstrated seem to be meaningful and could be shown, to the best of our knowledge, for the first time.