Research On Error Suppression And Redundant Configuration For Micro-Gyroscope

Silicon Micro-gyroscope has broad applications in military and civilian scene due to its small size,low power consumption and low cost.Considering the low precision,especially performance influenced by temperature for micro-gyroscope,the thesis takes the butterfly wings micro-gyroscope as an example to analyze the principle of its precision error varied with temperature.The measurement accuracy and reliability for micro-gyroscope can be improved by filtering technology and hardware redundancy.And the fault-tolerance ability and measurement accuracy for whole navigation system and subsystem IMU can also be improved.The thesis mainly researches on the three aspects,shown as follows:(1)It introduces the basic principles of Microgyroscope and analyzes its temperature characteristics and modeling traditional static temperature conditions with butterfly wings micromechanical gyroscope for the study.Microgyroscope drive relationship between the frequency and the internal temperature.(2)The configuration scheme of the four,five and six single freedom and the reliability and optimal measurement performance for typical configuration scheme have been analyzed.Through theoretical analysis and simulation results can conclude the followings: Fistly the reliability is proportional to the number of gyros;Secondly the five round stack configuration is better than the four one and the four gyro round stack configuration is better than the orthogonal collocation one;Finally,when the four gyro angle chosen taking into account the specific link redundancy configuration and temperature compensation and virtual gyro scale factor selection theory best installation angle,introduce redundancy temperature compensation principle established robust adaptive filter model describes Carr Man filtering principle.(3)The error correlation for silicon micro-gyroscope has been verified by heating experiments and whole temperature experiment.The desired error compensation can be achieved by analyzing the experiment results.The use of experimental data acquisition and establishment of temperature error compensation model error compensation,compared to the previous zero offset drift compensation increased by one order of magnitude,followed by a scale factor variation experiments under different temperature conditions,the results showed that thesis butterfly wings Silicon Micro gyro scale factor changes very little with temperature.