中文摘要：

通过对MEMS陀螺仪工作时产生的噪声误差特点进行分析,采用启发式漂移消减法（HDR）设计闭环网络,对该误差进行实时估计和补偿.针对载体在运行过程中产生的摇摆问题,通过添加双低通滤波器来消除影响;由于低通滤波器的引入而产生的时间延迟,通过设计信号滞后消除环节解决,提高MEMS陀螺仪对姿态角的估计精度;对于载体在运行过程中出现的弯曲和转向问题,则通过设计阈值函数进行解决.最后,采用Allan方差对陀螺仪补偿后的误差进行综合评定,并以MC-ROV水下机器人为平台进行试验.结果表明：经过HDR补偿之后,陀螺仪的各项误差指标均有比较明显的降低,显著提高陀螺仪的输出精度.

英文摘要：

According to the characteristics of noise error by MEMS gyroscope,heuristic drift reduction（ HDR） was adopted to realize real-time estimation and drift compensation. Double low-pass filters were added to remove the effect of swing problem during carrier operation. The signal time delay by double low-pass filter was eliminated by a signal link to improve the attitude estimating accuracy of MEMS gyroscope. The threshold function was designed to solve the bending and steering problems in the process of operation. Allan variance was applied to evaluate the compensated error,and the experiment was carried out on the platform of MC-ROV underwater robot. The results show that after HDR compensation,the errors of gyroscope are significantly reduced,and the output precision of gyroscope is remarkably improved.