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Random Error Analysis of MEMS Gyroscope Based on an Improved DAVAR Algorithm

机译：基于改进的Davar算法的MEMS陀螺仪的随机误差分析

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摘要

In view that traditional dynamic Allan variance (DAVAR) method is difficult to make a good balance between dynamic tracking capabilities and the confidence of the estimation. And the reason is the use of a rectangular window with the fixed window length to intercept the original signal. So an improved dynamic Allan variance method was proposed. Compared with the traditional Allan variance method, this method can adjust the window length of the rectangular window adaptively. The data in the beginning and terminal interval was extended with the inverted mirror extension method to improve the utilization rate of the interval data. And the sliding kurtosis contribution coefficient and kurtosis were introduced to adjust the length of the rectangular window by sensing the content of shock signal in terminal interval. The method analyzed the window length change factor in different stable conditions and adjusted the rectangular window’s window length according to the kurtosis, sliding kurtosis contribution coefficient. The test results show that the more the kurtosis stability threshold was close to 3, the stronger the dynamic tracking ability of DAVAR would be. But the kurtosis stability threshold was too close to 3, there was a misjudgement in kurtosis analysis of signal stability, resulting in distortion of DAVAR analysis results. When using the improved DAVAR method, the kurtosis stability threshold can be close to 3 to improve the tracking ability and the estimation confidence in stable interval. Therefore, it solved the problem that the dynamic Allan variance tracking ability and confidence level were difficult to take into account, and also solved the problem of misjudgement in the stability analysis of kurtosis.
机译：鉴于传统的动态Allan方差（Davar）方法很难在动态跟踪能力和估计的置信度之间进行良好的平衡。原因是使用具有固定窗口长度的矩形窗口来拦截原始信号。所以提出了一种改进的动态Allan方差方法。与传统的Allan方差方法相比，该方法可以自适应地调整矩形窗口的窗口长度。开始和终端间隔中的数据与反向镜像扩展方法扩展，以提高间隔数据的利用率。并引入了滑动峰延期贡献系数和峰度通过感测端子间隔中的冲击信号含量来调节矩形窗口的长度。该方法分析了窗口长度变化因子在不同的稳定条件下，并根据峰氏症调整矩形窗口长度，滑动峰延迟贡献系数。测试结果表明，山氏稳定性阈值越多接近3，达沃瓦的动态跟踪能力越强。但刚性稳定性阈值太近3，施经峰分析信号稳定性的误判，导致达瓦分析结果的变形。当使用改进的Davar方法时，Kurtosis稳定性阈值可以接近3，以提高跟踪能力和估计间隔的估计置信度。因此，它解决了动态艾伦方差跟踪能力和置信水平难以考虑的问题，并解决了峰氏症稳定性分析中的误判问题。

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