MEMS阵列数据融合及标定方法研究

阮卫; 黄海; 洪剑英; 秦斌

doi:10.11993/j.issn.2096-3920.2023-0140

MEMS阵列数据融合及标定方法研究

doi: 10.11993/j.issn.2096-3920.2023-0140

中国船舶集团有限公司第705研究所, 陕西西安, 710077

详细信息

作者简介:
阮卫：阮　卫(1993-), 男, 硕士, 工程师, 主要研究方向为导航与控制

中图分类号: TJ630.1; U674.94
计量
- 文章访问数: 9
- HTML全文浏览量: 3
- PDF下载量: 1
- 被引次数: 0
出版历程
- 收稿日期: 2023-11-05
- 修回日期: 2023-12-13
- 录用日期: 2024-03-01
- 网络出版日期: 2024-06-05

Study on field Data Fusion and calibration techniques of MEMS Array

The 705 Research Institute, China Shipbuilding Corporation, Xi’an 710077, China

摘要

摘要: 针对MEMS陀螺随机噪声大及零偏重复性不好的特点, 对MEMS随机误差采用Allan方差法分析其角度随机游走, 以Allan方差辨识值和加权最小二乘法, 设计阵列陀螺信息融合处理算法, 可有效降低角度随机游走, 且在静态和动态条件下均能实时响应真实角速率。对MEMS陀螺常值漂移, 结合惯性导航系统误差的可观测性设计两位置标定方案, 完成常值漂移的系统级标定。仿真结果表明, 文中所提方法可有效降低MEMS陀螺角度随机游走和陀螺常值漂移, 显著提升MEMS惯性测量精度。
- MEMS阵列 /
- 系统级标定 /
- Allan方差 /
- 信息融合
Abstract: Aiming at the poor repeatability and large random noise of micro electro mechanical system. Using Allan method to analyze the random walk of MEMS. The information fusion algorithm of array gyro is designed by using Allan variance identification value and weighted least square method, which can effectively reduce the angle random walk and respond to the true angular rate in real time under both static and dynamic conditions. For MEMS gyro constant zero bias, Combined with the observability of the error of the inertial navigation system, Design two-position calibration scheme to complete system-level calibration of constant drift. Simulation results show that The method proposed in this paper is effectively reduce the angle random walk and the constant drift of MEMS gyro, Significantly improve the inertial measurement accuracy of MEMS.
- MEMS arrays /
- system-level calibraton /
- Allan variance /
- Information fusion

HTML全文

图 1 MEMS阵列融合方案

Figure 1. A Scheme for MEMS Array Fusion

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图 2 三陀螺阵列

Figure 2. Triple gyro array

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图 3 陀螺仪原始输出

Figure 3. Gyroscope raw output

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图 4 加速度计原始输出

Figure 4. Accelerometer raw output

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图 5 陀螺滤波融合输出

Figure 5. Gyro filter fusion output

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图 6 陀螺滤波融合输出

Figure 6. Gyro filter fusion output

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图 7 虚拟陀螺技术动态仿真

Figure 7. Virtual gyro technology dynamic simulation

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图 8 陀螺动态融合输出

Figure 8. Gyro dynamic fusion output

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图 9 失准角估计值

Figure 9. Misalignment angle estimate

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图 10 北向陀螺漂移估计值

Figure 10. Estimated values of north constant drift

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图 11 东向陀螺漂移估计值

Figure 11. Estimated values of east constant drift

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图 12 航向角误差

Figure 12. The error of heading angle

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图 13 横滚角误差

Figure 13. The error of roll angle

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图 14 俯仰角误差

Figure 14. The error of pitch angle

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