基于Allan方差的MEMS陀螺仪随机误差分析方法

摘要

MEMS陀螺随机漂移误差是制约惯性导航精度的主要原因, 本文通过Allan方差分析方法, 得出MEMS陀螺随机漂移误差主要来源以及各种误差的性能参数.该方法为分析陀螺性能指标、 提高惯性导航精度奠定了基础.本文介绍了Allan方差定义, 陀螺各项随机误差与Allan方差的关系, 搭建了MEMS陀螺组件, 通过高精度转台实验静止采集陀螺仪数据.利用Allan方差分析得出MEMS陀螺各项随机误差性能指标, 验证了该方法的可行性.%The random drift error of MEMS gyroscope is the main reason to restrict the precision of inertial navigation.In this paper, the main source of random drift error of MEMS gyroscope and the performance parameters of various errors are obtained by Allan variance analysis.This method lays the foundation for analyzing the performance parameters and improving the precision of inertial navigation.In this paper, the definition of Allan variance and the relationship between the random error and Allan variance are introduced.Finally, the MEMS gyro component is built, and the gyro data is collected by high precision turntable experiment.The Allan variance analysis is used to obtain the performance indexes of MEMS gyro, and the feasibility of the method is verified.