摘要
在工程实际应用中,MEMS惯性测量单元的误差来源很多,噪声波动范围很大,温度特性和非线性严重;通过高低温实验,首先,分析系统的误差,建立系统的误差模型,在-30℃^+60℃范围内,进行全温度补偿;然后,分析噪声,根据实际要求,设计数字低通滤波器,对补偿后的数据进行滤波;结果显示,在满足工程实时性与动态特性要求的前提下,陀螺仪的零位补偿精度可以达到±0.03°以内,噪声波动范围可以控制在0.05°以内,加速度计的零位补偿精度达到±0.001g,满足工程实际要求,具有实用性!
In practical engineering application, the errors of IMU （Inertial Measurement Units） based on MEMS （Micro Electro--Me- chanical System） were all kinds, the noise＇ s range was larger, and the temperature characteristics and the non-linear error were bad. First, the system errors were analyzed and the errors＇ models were built. The real--time compensation was completed between --30℃ and 60℃. Then, the noise was analyzed and the low pass filter was designed. The result indicated that the gyros＇ accuracy achieved ±0.03°and noise＇ s range achieved 0. 05°, and the accelerometer＇ accuracy achieved 0. 001g, which satisfies real--time and dynamic requirements in engineering.
出处
《计算机测量与控制》
CSCD
北大核心
2011年第6期1315-1317,共3页
Computer Measurement &Control
关键词
MEMS惯性测量单元
零位补偿
数字滤波
Lagrange插值法
MEMS inertial measurement units
zero--level error compensation~ digital filtering
lagrange difference method
