航空学报 > 2010, Vol. 31 Issue (2): 350-355

一种MEMS陀螺标度因数误差补偿方法

房建成, 张霄, 李建利   

  1. 北京航空航天大学 仪器科学与光电工程学院 新型惯性仪表与导航系统技术国防重点学科实验室
  • 收稿日期:2008-12-26 修回日期:2009-03-12 出版日期:2010-02-25 发布日期:2010-02-25
  • 通讯作者: 房建成

A Compensation Method for MEMS Gyro Scale Factor Error

Fang Jiancheng, Zhang Xiao, Li Jianli   

  1. Key Laboratory of Fundamental Science for National Defense of Novel Inertial Instruments and Navigation System Technology, School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics
  • Received:2008-12-26 Revised:2009-03-12 Online:2010-02-25 Published:2010-02-25
  • Contact: Fang Jiancheng

摘要: 高动态、恶劣温度环境下,微小型飞行器(MAV)导航、制导与控制系统关键器件微机电系统(MEMS)陀螺受温度和转速耦合影响,其标度因数误差呈强非线性特点,常规方法无法精确补偿。通过分析MEMS陀螺标度因数误差的产生机理,建立了包含温度和转速非线性因素的标度因数误差模型,提出一种基于径向基(RBF)神经网络的标度因数非线性耦合误差补偿方法,解决了常规补偿方法精度差的问题。标定与补偿实验表明:在-10~+55 ℃温度范围、-150~+150 (°)/s输入转速范围内,采用新方法补偿后MEMS陀螺输出平均精度比多项式拟合方法提高7倍;在-20~+20 (°)/s低输入转速的误差强非线性区间内,精度提高近20倍,验证了本文方法的有效性和优越性。

关键词: 仪器仪表, 误差补偿, 神经网络, 标度因数, 微机电系统, 微小型飞行器

Abstract: In the adverse application environment of micro air vehicle (MAV) with high dynamics and poor temperatures, a micro-electro-mechanical system (MEMS) gyro may exhibit very serious nonlinear scale factor error due to the coupling effect of temperature and input rotation, for which compensation by conventional method is no longer sufficient. By analyzing the mechanism of the scale factor error of MEMS gyro, a model with temperature and rotation factors is established and a compensation method is proposed for the coupled nonlinear scale factor error based on radial basis function (RBF) neural network. This method can deal successfully with the large error problem of the conventional method. The calibration and compensation test results show that using the new compensation method, in the temperature range of -10-+55 ℃ and the rotation rate range of -150-+150 (°)/s, the accuracy of MEMS gyro is increased by 7 times as compared with the conventional compensation method. And in the strong nonlinear error rotation rate range of -20-+20 (°)/s, the accuracy is increased by nearly 20 times. Through the tests, the effectiveness and superiority of this method are proved.

Key words: instrument and device, error compensation, neural network, scale factor, MEMS, micro air vehicle

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