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一种MEMS陀螺仪零偏建模与估计方法
王国栋,孙丽艳,王振凯,杨亮
0
(北京航天控制仪器研究所,北京 100094)
摘要:
针对MEMS陀螺仪零偏随时间变化的问题,提出了一种MEMS陀螺仪的零偏建模与估计方法。通过分析静态条件下陀螺仪零偏变化的影响因素,建立了陀螺仪零偏和温度之间的差分方程模型。采用系统辨识的方法,给出了系统模型的参数辨识流程。基于最小二乘法,实现了模型参数的辨识。设计了测试验证试验,基于陀螺仪的零偏样本特性建立了三阶差分方程,并进行了参数辨识和模型验证,结果表明该模型可以有效地估计陀螺仪的零偏。
关键词:  MEMS陀螺仪  零偏漂移  温度  差分方程  参数辨识  零偏建模  零偏估计
DOI:
基金项目:国家重点研发计划课题(2016YFB0501300,2016YFB0501303);国防基础科研计划项目(WDZC20190303)
A MEMS Gyroscope Bias Modeling and Estimating Method
WANG Guo-dong,SUN Li-yan,WANG Zhen-kai,YANG Liang
(Beijing Institute of Aerospace Control Devices, Beijing 100094, China)
Abstract:
For the bias drift problem of MEMS gyroscope, a modeling and estimating method of gyroscope bias is proposed. Based on the mechanism analysis of gyroscope bias drift under static condition, difference equation model of bias with temperature is given. Parameter identification procedure of the model is designed using system identification method. The least square method is deployed to identify the model parameters. Experiment is conducted to test the proposed method. Third order difference equation is established based on bias sample characteristic. Parameter identification and model verification have been done. The results show that gyroscope bias can be estimated effectively.
Key words:  MEMS gyroscope  Bias drift  Temperature  Difference equation  Parameter identification  Bias modeling  Bias estimating

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