Aiming at the problem in method of MEMS angular rate gyro random error on-line modeling,this pa-per proposed a new algorithm of recursive least-squares method that used in the system identification processing. With this recursive least-squares method,a few known gyro output data were used to roughly estimate system parameters,then newly obtained data were added to the measurement formula using the recursive algorithm in order to make estimated parameters approach to its truth-value.This study indicated that the residual error be-tween outputs of gyro random error model and outputs of real gyro highly approximates white noise,which meant the error model accurately described statistical features of gyro random error and the recursive algorithm realizes on-line modeling.%针对MEMS陀螺不确定性误差建模方法只能离线进行的问题,提出了陀螺不确定性误差时间序列法在线建模中的迭代递推最小二乘法系统辨识方法.该方法首先通过少量实测陀螺输出数据采用最小二乘法估计出系统参数的粗略值,随后利用新测量到的实时数据采用可重复迭代的递推算法使现有系统参数估计值向其真值逐步逼近.实验室验证结果表明:采用该方法的陀螺不确定性误差模型输出与陀螺真实输出的残差高度近似于白噪声,从统计学角度来说该误差模型能够精确描述陀螺不确定性误差输出特性,该方法可以实现陀螺不确定性误差在线建模.
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