Error Compensation for MIMU under Random Vibration

According to the phenomenon that the measurement error and the output noise of the MIMU (Micro Inertial Measurement Unit) will increase significantly when the body is vibrating, thus the performance of MIMU degrades under vibration environment. The MIMU utilized in this paper is based on the silicon micro machined gyroscopes and accelerometers. By analyzing the output's characteristic of the gyroscopes from MIMU, an improved adaptive filter based on LMS (Least Mean Square) is proposed in this paper to solve the problems appeared under vibration for gyroscopes. To demonstrate the effectiveness of this method, the experiment is carried out and the result is analyzed. The experimental result indicates that under random vibration environment, this method can greatly decrease the output noise about 40dB~50dB and eliminate the measurement error for a certain extant. For the simple structure and easy implantation of this filter, it is suitable for the hardware of MIMU to realize improving its performance under vibration environment.

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