基于九轴MEMS定位系统误差分析与补偿算法研究

基于九轴MEMS定位系统，对由陀螺仪零偏造成的位移平面偏转误差进行分析与补偿。通过实验与推导，首次给出偏差的定量分析和误差传播的数学模型。为估计偏差，设计了一种新的状态向量中仅包含陀螺仪零偏的、简化扩展卡尔曼滤波（ SEKF）技术，克服了无加速度计辅助条件下的偏差估计问题，降低了计算量，能够很好地满足位移实时估计需求。硬件实验证明：经过偏差补偿的九轴MEMS定位系统，能够准确估计有限范围内周期性运动的位移，幅值定位精确度达到90%。该系统可用于无人机、机器人定位等领域。

Study on error analysis and compensation algorithm based on nine-axis MEMS positioning system

Based on nine-axis micro-electro-mechanical system( MEMS )positoning system,analyze and compensate on displacement plane deflect error caused by gyroscope zero-bias. By experiment and formula derivation,quantitative analysis on deviation is firstly given,and establish a mathematic model for error propagation;to estimate deviation,design a new simplified extended Kalman filtering( SEKF)technology,which has state vector containing gyroscope zero-bias only,overcome the estimation deviation problem without accelerometer, reduce calculations amount,this algorithm can nicely meet the online estimation demand for displacement. By hardware experiment,nine-axis MEMS system can accurately estimate the displacement of cyclical movement in limited range,after bias compensation,the accuracy of magnitude positioning reaches 90%. The system can be used for unmanned aerial vehicle( UAV),robot localization,and other fields.