The Micro-Electro-Mechanical System (MEMS) gyroscope has been widely used in various fields, but the output of the MEMS gyroscope has strong nonlinearity, especially in the range of tiny angular velocity. This paper proposes an adaptive Fourier series compensation method (AFCM) based on the steepest descent method and Fourier series residual correction. The proposed method improves the Fourier series fitting method according to the output characteristics of the MEMS gyroscope under tiny angular velocity. Then, the optimal weights are solved by the steepest descent method, and finally the fitting residuals are corrected by Fourier series to further improve the compensation accuracy. In order to verify the effectiveness of the proposed method, the angle velocity component of the earth’s rotation is used as the input of the MEMS gyroscope to obtain the output of the MEMS gyroscope under tiny angular velocities. Experimental characterization resulted in an input angular velocity between −0.0036°/s and 0.0036°/s, compared with the original data, the polynomial compensation method, and the Fourier series compensation method, and the output nonlinearity of the MEMS gyroscope was reduced from 1150.87 ppm, 641.13 ppm, and 250.55 ppm to 68.89 ppm after AFCM compensation, respectively, which verifies the effectiveness and superiority of the proposed method.
In order to improve the north-seeking precision of the micro-electro-mechanical (MEMS) gyroscope, it is necessary to measure the earth's rotation angular velocity accurately. The output precision of the MEMS gyroscope is affected by zero bias, installation error, scale factor error, etc. Aiming at the problem of the low output precision of the MEMS gyroscope, this paper mainly studies the test method of the MEMS gyroscope scale factor. In this study, the north-seeking principle of the MEMS gyroscope is analyzed, and the equivalent relationship between scale factor error and angular rate error is investigated. A Multi-Position ground velocity method is proposed for testing the scale factor of the MEMS gyroscope. In this method, the Earth's rotation angular velocity component is used as the input of the MEMS gyroscope, and the scale factor is calculated by dual exponential fitting. The feasibility of the test method is verified by experiments on the rate turntable. The experimental results show that when the input angular velocity is between -0.0036 °/s and 0.0036 °/s, compared with the traditional angular rate test method, the nonlinearity of the MEMS gyroscope scale factor tested by the proposed method is reduced from 227.45 ppm to 68.19 ppm, the asymmetry is reduced from 253.61 ppm to 73.65 ppm, and the north-seeking accuracy is improved 4.17 times, which verifies the effectiveness and superiority of the proposed method.
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