Dynamic compensation method for MEMS (Micro Electro Mechanical System) gyroscope Z-axis zero offset on the basis of Kalman filtering

Abstract

The invention discloses a dynamic compensation method for an MEMS (Micro Electro Mechanical System) gyroscope Z-axis zero offset on the basis of Kalman filtering. The dynamic compensation method mainly comprises the following steps: S1: when an IMU (Inertial Measurement Unit) is under a static state, obtaining carrier gesture data, and calculating to obtain the compensation value of MEMS gyroscopeZ-axis angular speed Rz through the obtained carrier gesture data to serve as an initial compensation value Offset; S2: in actual measurement, reading new carrier gesture data from the IMU; S3: judging whether the carrier is under the static state or not; S4: calculating by a Kalman algorithm, obtaining a new compensation value of the MEMS gyroscope Z-axis angular speed Rz, updating the Offset, and then, jumping to S2 to form circulation. According to the dynamic compensation method for the MEMS gyroscope Z-axis zero offset on the basis of the Kalman filtering, the Z-axis zero offset is dynamically captured, the Kalman algorithm is applied for carrying out dynamic compensation, the accuracy of the MEMS gyroscope is improved, a gyroscope Z-axis error is reduced, and meanwhile, the measurement error of a course angle YAW is reduced.

Description

technical field [0001] The invention relates to the field of dynamic compensation of Z-axis bias of MEMS gyroscopes, in particular to a method for dynamic compensation of Z-axis bias of MEMS gyroscopes based on Kalman filtering. Background technique [0002] IMU modules based on MEMS gyroscopes all have zero bias problems. For the zero bias of the X-axis and Y-axis, the measured values ​​​​of the X-axis and Y-axis accelerometers can be calibrated using the Kalman filter algorithm, while the Z-axis cannot pass this. method calibration, so the Z-axis measurement value of MEMS-based IMU modules on the market is generally inaccurate, and the result is that the measurement of the heading angle will have a large deviation, which is largely due to the zero of the Z-axis Bias caused. [0003] This patent dynamically captures the zero offset of the Z-axis, and uses the Kalman algorithm to dynamically compensate the zero offset, thereby improving the accuracy of the MEMS gyroscope, r...

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Problems solved by technology

[0002] IMU modules based on MEMS gyroscopes all have zero bias problems. For the zero bias of the X-axis and Y-axis, the measured values ​​​​of the X-axis and Y-axis accelerometers can be calibrated using the Kalman filter algorithm, while the Z-axis cannot pass this. method calibration, so the Z-axis measurement value of MEMS-based IMU modules on the market is generally inaccurate, and the result is that the measurement of the heading angle will have a large deviation, which is largely due to the zero of the Z-axis cause

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