| MEMS inertial measurement unit has the advantages of small size,low power consumption,low cost and high reliability.It has broad application prospects in civil and military fields.Therefore,it is very necessary to improve the accuracy of MEMS inertial devices.In this paper,we use the laboratory equipment to calibrate and compensate the low cost MEMS inertial measurement module which is made by the laboratory.Firstly,the deterministic error analysis of low cost MEMS inertial measurement components is made in the laboratory.The system error model and the temperature error model are established.By using a single axis rate turntable with thermostat eighteen position and the six position of dynamic and static temperature calibration experiments,the algorithm calculated by different error model,and finally the experimental results are analyzed and compensated.Secondly,taking into account the actual use of MEMS inertial measurement components,the three axis simulation speed turntable is used to carry out the composite motion experiment,and the effect of the composite motion on the device is observed.The coupling error model of the gyroscope is established.Two different experimental schemes are designed to carry out the experiment.The coupling error is obtained by the algorithm and the composite calibration process of the MEMS gyroscope is completed.Thirdly,the PSD analysis and Allan variance analysis are carried out on the output data of the MEMS inertial device,which is characterized and identified.The stochastic error model was established by time series method.The Kalman filter was used to filter the MEMS inertial device.The random drift amplitude was obviously reduced and the random error of MEMS inertial device was improved.Finally,the MEMS gyroscope for the use of twice Kalman filter processing,not only can further improve the accuracy of MEMS gyroscopes,but also can solve the gyro unknown input speed compensation under the circumstances. |
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