摘要
针对移动机器人上安装的MEMS陀螺仪进行研究,根据MEMS陀螺仪的实测数据,分析了其噪声特性,采用时间序列分析方法建立MEMS陀螺仪漂移的AR模型,进而通过Kalman滤波降低随机噪声对MEMS陀螺仪精度的影响。仿真结果表明:静态漂移的建模和滤波方法对提高MEMS陀螺仪精度是有效的。
The MEMS gyro in robot is researched. The noise feature of MEMS gyro is analyzed. Based on the AR model, the statistic parameters are reckoned. Then, the Kalman filter method is used to denoise the signal of MEMS gyro. The simulation results show that the method of modeling and Kalman filter can achieve good performance on the denoise of MEMS gyro.
出处
《传感器与微系统》
CSCD
北大核心
2007年第11期48-50,共3页
Transducer and Microsystem Technologies
