A method for improving the drifting and dynamic performance of the gyroscope

摘要

As a speed feedback element in the servo stabilization system, the noise and random drift of the gyroscope have a direct impact on the accuracy and dynamic performance of the system. This paper proposes a correction method which introduces encoder angle increment into speed closed loop to optimize the drift performance. Combined with the method of least squares forward prediction, it eliminates the dynamic hysteresis caused by Kalman filtering for gyro noise. The engineering verification shows that the drift error is suppressed effectively and the dynamic performance of the servo stabilization system is greatly improved.