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《Acta Armamentarii》 2011-06
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Design and Error Compensation of MEMS Rotating Modulation AHRS

XU Ye-feng1,QIU Hai-tao2,HE Meng-ke3,MENG Qing-ji1(1.School of Instrument Science and Opto-electronics Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100191,China; 2.Beijing Aerospace Control Device Institute,Beijing 100854,China; 3.Patent Examination Cooperation Center of SIPO,Beijing 100190,China)  
In order to achieve medium-precision,low-cost attitude and heading reference system(AHRS),the approach of using rotating modulation technology based on low-performance micro electronic mechanical system(MEMS) gyro is proposed.The features of gyro's scale factor error and acceleration related error in rotation-modulation situation are studied.The new errors caused by rotation-modulation are also analyzed such as rotating decomposition error,whirlpool error,etc.For different error sources,the compensation methods and the corresponding compensation results are given.Experiment results show that,after error compensation,the rotation-modulation approach can improve the performance of MEMS gyro by about 30times,the system's attitude and heading maintain accuracy will be better than 1°/h by using the 30°/h-drift MEMS gyro.
【CateGory Index】: V249
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