Research on the Compensating Method for the Random Error of the MEMS Gyroscope

摘要

MEMS inertial apparatus have many merits，such as the small size, the low cost, the light weight, the low power consumption, and the high reliability, compared with the traditional inertial measurement systems, the new inertial measurement systems composed of MEMS inertial apparatus, also have a series of advantages, for example, the small size, the low cost, the light weight, the low power consumption, and the high adaptability for the environment, It had been widely applied to the military filed such as the navigation and the guide for the missiles and rockets, and the civil fields such as the vehicle navigation and location. While because the precision of the present MEMS inertial apparatus is still lower, this restricts the application of miniature inertial measurement system in a certain extent, thereinto, the error of MEMS gyros is best of all for the precision of the inertial measurement system. In order to reduce the random drift error of the micro gyroscope, a compensating method is proposed in this paper. Based on the hypotheses of the mean stochastic change and mean stochastic speedup change of the angle rate, two kalman filtering methods of compensating the random error of micro gyroscope are proposed. The theory analysis and the experiment results show, two methods presented in this paper are all correct and effective, and the latter is better than the former in the aspects of the filtering and tracking effect.