Analysis and Processing on Zero Position Error of MEMS Gyroscope

摘要

Study on zero position error of MEMS gyroscope has a great value on improving the accuracy of inertial navigation system.Allan variance analysis method was adopted to evaluate on zero position error of MEMS gyroscope.A kind of dynamic zero offset compensation algorithm was presented to eliminate the zero offset error.HDR(Heuristic Drift Reduction)was also improved and the compensation accuracy of original algorithm was increased effectively.Finally,Allan variance analysis method was adopted to evaluate on the compensated zero position error.Test had been done with the platform of gyro-equipped indoor mobile robot Voyager-IIA and the results show precision was increased significantly with the improved algorithm.