T.A. Marusenkova

Èlektron. model. 2019, 41(5):03-16


The work presents a solution to a problem of developing software for modeling noise of MEMSThe work presents a solution to a problem of developing software for modeling noise of MEMSgyroscopes. Such software is of great importance due to complexity of the algorithms forminimization of pose estimation errors by compensation for the transfer function drift based ondigital filtering. We have proposed two algorithms for synthesizing noise terms typical of MEMSgyroscopes. The first of these algorithms is based on integrating pseudorandom harmonic signals.The second one assumes frequency correction of an array of pseudorandom signals. The spectralcharacteristics of synthesized noise are analyzed using the Allan variance. We use our ownsoftware, IMU tester, based on M5Stack with SoC ESP32, to study noise parameters. The obtainedresults are of key importance for simulation of MEMS gyroscopes errors using the Monte-Carlomethod, optimization of the correctingKalman-based filters and firmware of integrated IMUsensors.


MEMS gyroscope, noise, model of noise synthesis, inertial measurement unit.


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