On The Performance Of MEMS Gyro Used In Robot And Military Navigation System

With the development of economic, technological progress and the car's navigation system, MEMS gyro, as a new low-cost gyro,is widely used in navigation device. MEMS gyro can effectively can effectively improve the system costs. MEMS is the abbreviation of micro-electro-mechanical systems, which is the integration of miniature sensors, actuators and signal processing and control circuit, interface circuit, the power and communications. In recent years, with the development of navigation technology, and the needs of social sciences, the application of gyroscope, especially the application of MEMS gyroscopes market expand greatly, which is widely used in navigation, and robotic balance system posture measurement and control.As a precision sensing instruments of navigation, MEMS gyroscopes itself exist some problem and performance,which have an important influence with the precision of navigation system. Therefore, the author summarized on the summary and technical development at home and abroad and research status about gyroscopes, combining with laboratory research direction, analyzed and studied the performance of MEMS gyroscopes mainly from some aspects such as:the gyroscope data acquisition, performance analysis, drift error analysis and modeling, random drift error compensation.The work has practical significance with the increase of gyroscope precision and improve the navigation system. According to the MEMS gyroscopes used in land robot system, using AVR microcontroller of data acquisition system, combining with laboratory three-axis turntable, undertake gyro data acquisition; For military precision navigation MEMS gyroscopes, the author has carried on the track simulators design, the highest accuracy imitation military navigation system, get MEMS gyroscopes measurement data, facilitate lab for navigation method research and validation; On MEMS gyroscopes data extraction, and on the basis of analysis and establishment of the math model, get MEMS gyroscopes working curve; Through the introduction and analysis of the gyroscope excursion principle and error mechanism, using time series analysis method for MEMS gyroscopes random drift error modeling, adopts kalman filtering theory of compensation error model, obtained relatively good compensation effect. At the end of this paper, MEMS gyroscopes was used in the self-balance car in laboratoty. Through with the cooperation of the accelerometer to obtain posture information of the car, the author leads to a multisensor data fusion technology research and algorithm implemented, and use matlab simulation platform realize two different multisensor data fusion algorithm, optimal estimation is of great significance.