This report describes an Extended Kalman filter based on the time averaged model of a MEMS vibratory gyroscope.
The EKF provides consistent and accurate estimations of damping imperfections of a rate integrating gyroscope.
Feedback control based on the estimation results from the EKF is able to reduce the precession angle dependent angular drift to 1 degree per second.
Spectrum analysis of angle output from the RIG reveals the existence of a 4th harmonics. It is caused by dynamics not included in conventional gyroscope models.