The micro-electromechanical system (MEMS) vibratory gyroscope has been widely used in many fields, such as aerospace, autonomous vehicles, and robotics. The major affecting factor of the final accuracy of this type of gyroscope is random noise error. The MEMS vibratory gyroscope has been a hot research topic in the vibratory gyroscope field. This paper considers the vibratory gyroscopes, such as metal resonant and tuning forks. In the process of research and analysis, the MEMS gyroscopes are mainly used. Aiming at suppressing the random noise of the MEMS gyroscopes effectively, a nonlinear suppression method based on the Cubature Kalman Filter-Phase Space Reconstruction (CKF-PSR) is proposed. After fully analyzing the data flow and processing timing of the MEMS gyroscope, the chaotic attractor PSR is used to complete the data modeling of the gyroscope output. Combining the established model with the nonlinear factors of the gyroscope output, a nonlinear filter is proposed for comprehensive filtering. The algorithm complexity and running dynamics are systematically analyzed and verified. Finally, it was applied to a self-developed inertial integrated navigation device. The results show that compared to the traditional filtering methods, the Finite Impulse Response (FIR) and the Kalman Filter - Phase Space Reconstruction (KF-PSR), the proposed method has significant advantages, laying a theoretical foundation for the application of vibratory gyroscopes in high-precision applications.

微机电系统（MEMS）振动陀螺仪已广泛应用于航空航天、自动驾驶汽车和机器人等诸多领域。影响此类陀螺最终精度的主要因素是随机噪声误差。MEMS振动陀螺仪一直是振动陀螺仪领域的热门研究课题。本文考虑了振动陀螺仪，例如金属谐振和音叉。在研究和分析过程中，主要使用MEMS陀螺仪。为了有效抑制MEMS陀螺仪的随机噪声，提出了一种基于Cupature Kalman滤波器-相位空间重构(CKF-PSR)的非线性抑制方法。在充分分析了MEMS陀螺仪的数据流和处理时序后，混沌吸引子PSR用于完成陀螺仪输出的数据建模。将建立的模型与陀螺仪输出的非线性因素相结合，提出一种非线性滤波器进行综合滤波。系统地分析和验证了算法复杂度和运行动态。最后应用于自主研发的惯性组合导航装置。结果表明,与传统滤波方法有限冲激响应(FIR)和卡尔曼滤波器-相空间重构(KF-PSR)相比,所提方法具有显着优势,为振动陀螺仪的应用奠定了理论基础。高精度应用。提出了一种非线性滤波器来进行综合滤波。系统地分析和验证了算法复杂度和运行动态。最后应用于自主研发的惯性组合导航装置。结果表明,与传统滤波方法有限冲激响应(FIR)和卡尔曼滤波器-相空间重构(KF-PSR)相比,所提方法具有显着优势,为振动陀螺仪的应用奠定了理论基础。高精度应用。提出了一种非线性滤波器来进行综合滤波。系统地分析和验证了算法复杂度和运行动态。最后应用于自主研发的惯性组合导航装置。结果表明,与传统滤波方法有限冲激响应(FIR)和卡尔曼滤波器-相空间重构(KF-PSR)相比,所提方法具有显着优势,为振动陀螺仪的应用奠定了理论基础。高精度应用。